Robot butt joint connecting device

Abstract

The utility model relates to the technical field of robot butt joint, in particular to a robot butt joint connecting device, which comprises a fixed panel, a mounting bracket, a butt joint guide mechanism, a butt joint connector, a locking driving mechanism and a butt joint locking mechanism, the fixed panel is provided with a mounting part, the butt joint guide mechanism is arranged on the mounting part, and the butt joint connector is arranged on the butt joint driving mechanism. The mounting bracket is mounted on one surface of the fixed panel, the locking driving mechanism is arranged on the mounting bracket, the butt-joint locking mechanism is connected with the locking driving mechanism, a rotary fixing frame is arranged in the mounting bracket, and the butt-joint connector is arranged on the rotary fixing frame; the butt joint guide mechanism is provided with a plurality of guide elements which are annularly distributed with the butt joint connector as the center. The locking driving mechanism can drive the butt-joint locking mechanism to act in time, two butt-joint parts are firmly locked, the situations of looseness, separation and the like in the running process of the robot are prevented, and the stability of connection is guaranteed.

Description

TECHNICAL FIELD

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

[0002] Robot refers to a kind of robot system, it is usually composed of two wheels or wheel assembly of wheel component. This design enables the robot to move on a horizontal surface, and can be realized by the control of different wheel speeds to turn and rotate. The double-wheel robot usually uses differential drive system, by independently controlling the speed of each wheel, the forward movement, backward movement, turning and other various movements of the robot can be realized. In addition, the double-wheel robot can also realize rotational motion by controlling the speed difference of the wheels, which makes them very flexible and suitable for narrow spaces and complex environments.

[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 for transmission, but the structure is relatively complex, and the stability is poor, especially when working cooperatively, the phenomenon of loosening and separation is prone to occur, 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 realizes reliable locking after docking through the cooperative work of locking drive mechanism and docking locking mechanism. The locking drive mechanism is arranged on the mounting bracket and connected with the docking locking mechanism, and when the docking is completed, the locking drive mechanism can timely drive the docking locking mechanism to act, and firmly lock the two parts of the docking, to prevent loosening, separation and other situations during the operation of the robot, and ensure the stability of the robot docking connecting device.

[0005] The utility model adopts the technical scheme as follows: a kind of robot butt joint connecting device, including fixed panel, mounting bracket, docking guide mechanism, docking connector, locking drive mechanism and docking locking mechanism, the fixed panel is provided with installation part, the docking guide mechanism is arranged in installation part, the mounting bracket is installed in one side of fixed panel, the locking drive mechanism is arranged on mounting bracket, the docking locking mechanism is connected with locking drive mechanism, the mounting bracket is provided with rotating fixed frame, and the docking connector is arranged on rotating fixed frame;The docking guide mechanism is provided with multiple guide elements, and multiple guide elements are distributed in ring around docking connector.

[0006] Further, the guiding element comprises a guiding connecting part, a guiding slope and a guiding positioning end, the guiding connecting part is arranged on the fixed panel, the guiding slope is arranged on the guiding connecting part, and the guiding positioning end is arranged at the end of the guiding slope; and the guiding element is arranged in at least two, and the at least two guiding elements are arranged in a ring around the docking connector.

[0007] Further, the fixed panel is provided with a first mounting groove, the mounting support is provided with a transmission cavity in a position opposite to the first mounting groove, the transmission cavity is provided with a second mounting groove on a side opposite to the first mounting groove, the first mounting groove is provided with a first bearing, the second mounting groove is provided with a second bearing, and the docking locking mechanism is arranged on the first bearing and the second bearing.

[0008] Further, the docking locking mechanism comprises a locking screw and a locking fixed rod, the locking screw is arranged on the first bearing and the second bearing, the first end of the locking screw extends to the outside of the fixed panel, and the locking fixed rod is connected with the first end of the locking screw.

[0009] Further, the groove bottom surface of the second mounting groove is provided with a limiting groove, the second end of the locking screw is provided with a locking limiting rod, the second end of the locking screw extends to the limiting groove, and the limiting groove is used for limiting the locking limiting rod.

[0010] Further, the locking driving mechanism comprises a locking driving assembly, a locking driving gear and a locking synchronous wheel, the driving end of the locking driving assembly is connected with the locking driving gear, and the locking synchronous wheel is engaged with the locking driving gear; the locking synchronous wheel is connected with the locking screw, and the locking synchronous wheel is used for driving the locking screw to rotate or axially move.

[0011] Further, the locking driving assembly comprises a driving mounting frame, a driving motor and a driving connecting piece, the driving mounting frame is arranged on the mounting support, the driving motor is arranged on the driving mounting frame, and the driving motor is connected with the locking driving gear through the driving connecting piece.

[0012] Further, the locking driving assembly comprises a driving mounting frame, a driving motor and a driving connecting piece, the driving mounting frame is arranged on the mounting support, the driving motor is arranged on the driving mounting frame, and the driving connecting piece comprises an output gear and a switching tooth rod, the locking driving gear is provided with an external connecting gear disc, and the external connecting gear disc is engaged with the switching tooth rod; the driving motor drives the external connecting gear disc to rotate through the output gear and the switching tooth rod.

[0013] Further improvement of the above scheme is that the outer periphery of the rotating fixed frame is provided with a third bearing connected with the inner diameter of the locking driving gear; and the mounting part is provided with a mounting block connected with the rotating fixed frame through screws.

[0014] Further improvement of the above scheme is that the rotating fixed frame is provided with a mounting table at the shaft center, and the mounting table is provided with a docking mounting groove, and the docking connector is arranged on the docking mounting groove.

[0015] The utility model has the advantages of:

[0016] Compared with the existing robot docking, the docking guide mechanism composed of multiple guide elements distributed in a ring around the docking connector can provide accurate guidance during robot docking. The ring distribution design can guide the docking action from multiple angles, effectively correct the docking deviation, greatly improve the accuracy and stability of docking, reduce the probability of docking failure, and ensure that the robot can quickly and accurately complete the docking operation under various complex working conditions. Further, the mounting bracket is installed on one side of the fixed panel, providing stable and reliable support for the locking driving mechanism and the docking connector and other components. The cooperative work of the locking driving mechanism and the docking locking mechanism realizes reliable locking after docking. The locking driving mechanism is arranged on the mounting bracket and connected with the docking locking mechanism. When the docking is completed, the locking driving mechanism can timely drive the docking locking mechanism to act, firmly locking the two parts of the docking, preventing loosening, separation and other situations during robot operation, ensuring the stability of the connection, and further ensuring the safety and reliability of the robot during subsequent operation. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is a three-dimensional schematic view of the robot docking connection device of the utility model;

[0018] Figure 2 It is Figure 1 It is a three-dimensional schematic view of another perspective of the robot docking connection device;

[0019] Figure 3 It is Figure 1 It is a three-dimensional schematic view of another embodiment of the robot docking connection device;

[0020] Figure 4 It is Figure 1 It is an exploded schematic view of the robot docking connection device;

[0021] Figure 5 It is Figure 1 It is an exploded schematic view of another perspective of the robot docking connection device.

[0022] Explanation of reference signs: fixed panel 1, mounting portion 11, first mounting groove 12, first bearing 121, mounting bracket 2, rotating fixing frame 21, transmission cavity 22, second mounting groove 221, second bearing 222, limiting groove 223, butt joint guide mechanism 3, guide element 31, guide connecting portion 311, guide inclined surface 312, guide positioning end 313, butt joint connector 4, locking drive mechanism 5, locking drive assembly 51, drive mounting frame 511, drive motor 512, drive connecting piece 513, output gear 5131, adapter gear rod 5132, locking drive gear 52, external gear disc 521, locking synchronous wheel 53, butt joint locking mechanism 6, locking screw 61, locking fixed rod 62, locking limiting rod 63. DETAILED DESCRIPTION

[0023] For the purpose of facilitating the understanding of the present application, the present application will be described more fully below with reference to the accompanying drawings. In the drawings, preferred embodiments of the present application are shown. However, the present application can be realized in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete. It will be apparent that the scope of the present application is not limited to the embodiments set forth herein.

[0024] It should be noted that when an element is referred to as being "on" another element, it can be directly on the other element or intervening elements can also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements can also be present.

[0025] 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 the present application belongs. The terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. As used in this specification and the appended claims, the singular forms "a", "an" and "the" include plural referents unless the content clearly dictates otherwise. Thus, for example, reference to "a component" includes a combination of two or more components, and the like. Figures 1-5As shown, one embodiment of the utility model relates to a kind of robot docking connecting device, including fixed panel 1, mounting bracket 2, docking guide mechanism 3, docking connector 4, locking drive mechanism 5 and docking locking mechanism 6, the fixed panel 1 is provided with installation portion 11, the docking guide mechanism 3 is arranged in installation portion 11, the mounting bracket 2 is installed in one side of fixed panel 1, the locking drive mechanism 5 is arranged on mounting bracket 2, the docking locking mechanism 6 is connected with locking drive mechanism 5, the mounting bracket 2 is provided with rotating fixed frame 21, and the docking connector 4 is arranged on rotating fixed frame 21;The docking guide mechanism 3 is provided with multiple guide elements 31, and multiple guide elements 31 are distributed in ring around docking connector 4 as center.This embodiment can provide accurate guiding effect in the process of robot docking by the docking guide mechanism 3 of multiple guide elements 31 distributed in ring around docking connector 4 as center.Ring distribution design can guide docking action from multiple angles, effectively correct docking deviation, greatly improve the accuracy and stability of docking, reduce the probability of docking failure, ensure that robot can quickly and accurately complete docking operation under various complex working conditions.Further, mounting bracket 2 is installed in one side of fixed panel 1, and stable and reliable support is provided for locking drive mechanism 5 and docking connector 4 etc.parts.The cooperative work of locking drive mechanism 5 and docking locking mechanism 6 realizes reliable locking after docking.Locking drive mechanism 5 is arranged on mounting bracket 2 and is connected with docking locking mechanism 6, when docking is completed, locking drive mechanism 5 can drive docking locking mechanism 6 to act in time, and the two parts of docking are firmly locked, prevent loosening, separation etc.situation during robot operation, guarantee the stability of connection, further ensure the safety and reliability of robot in subsequent operation process.

[0026] The guide element 31 comprises a guide connecting part 311, a guide inclined surface 312 and a guide positioning end 313. The guide connecting part 311 is arranged on the fixed panel 1, the guide inclined surface 312 is arranged on the guide connecting part 311, and the guide positioning end 313 is arranged at the end of the guide inclined surface 312. In this embodiment, the guide connecting part 311 is stably arranged on the fixed panel 1, ensuring that the guide element 31 is closely connected with the device main body and will not loosen or displace during operation, thereby ensuring the stability of the system. The guide inclined surface 312 is arranged on the guide connecting part 311, and can guide the docking component to accurately approach in a specific direction when the robot performs docking operation, effectively correcting the slight deviation that may occur during docking, reducing the docking difficulty and improving the accuracy and success rate of docking. The guide positioning end 313 is located at the end of the guide inclined surface 312, like a positioning needle, which can accurately determine the docking position when the docking is about to be completed, further improving the accuracy of docking and ensuring that the docking connector 4 can accurately and correctly complete the connection action. The guide element 31 is arranged at least two, and is arranged in a ring around the docking connector 4. The docking process can be effectively guided and positioned in multiple directions, ensuring the accuracy of docking from different angles and improving the docking efficiency and reliability of the robot docking connection device in all directions.

[0027] The fixed panel 1 is provided with a first mounting groove 12, the mounting bracket 2 is provided with a transmission cavity 22 at a position opposite to the first mounting groove 12, the transmission cavity 22 is provided with a second mounting groove 221 at a position opposite to the first mounting groove 12, the first mounting groove 12 is provided with a first bearing 121, the second mounting groove 221 is provided with a second bearing 222, and the docking locking mechanism 6 is arranged on the first bearing 121 and the second bearing 222. In this embodiment, the first bearing 121 installed on the first mounting groove 12 provides a stable support point for the docking locking mechanism 6, so that the docking locking mechanism 6 has accurate positioning basis on this side and can accurately realize the starting positioning of the docking action, effectively improving the docking accuracy. The transmission cavity 22 arranged at a position opposite to the first mounting groove 12 of the mounting bracket 2 provides a space for power transmission and mechanical movement of the docking locking mechanism 6, ensuring effective conduction of force during docking. The second bearing 222 in the second mounting groove 221 arranged at a position opposite to the first mounting groove 12 cooperates with the first bearing 121. The second bearing 222 further enhances the support stability of the docking locking mechanism 6 on the other side, ensuring that the docking locking mechanism 6 can run stably throughout the docking process, reducing shaking and deviation, and improving the reliability and stability of docking.

[0028] The docking locking mechanism 6 comprises a locking screw 61 arranged on the first bearing 121 and the second bearing 222, and a locking fixed rod 62 connected with the first end of the locking screw 61. Specifically, the bottom surface of the second mounting groove 221 is provided with a limiting groove 223, and the second end of the locking screw 61 is provided with a locking limiting rod 63, the second end of the locking screw 61 extends to the limiting groove 223, and the limiting groove 223 is used for limiting the locking limiting rod 63. In this embodiment, the locking screw is arranged on the first bearing 121 and the second bearing 222, the first end of the locking screw extends to the outside of the fixed panel 1 and is connected with the locking fixed rod 62, so that the locking action can be effectively transmitted. The limiting groove 223 arranged on the bottom surface of the second mounting groove 221 and the locking limiting rod 63 at the second end of the locking screw 61 cooperate, on the one hand, the limiting groove 223 precisely limits the locking limiting rod 63, strictly limits the axial movement range of the locking screw 61, ensures the stable and reliable position of the locking screw 61 during the docking process of the robot, and further ensures the docking accuracy. On the other hand, the structural stability of the whole docking locking mechanism 6 is enhanced. The cooperation of the limiting groove 223 and the locking limiting rod 63 can effectively resist external force, prevent the locking screw 61 from deviating or shaking due to stress, and ensure the accuracy and reliability of the locking action. The stable locking structure helps to prolong the service life of the robot docking connection device, reduces the wear and failure of parts caused by unstable structure, and improves the stability and sustainability of the overall operation of the equipment.

[0029] The locking driving mechanism 5 comprises a locking driving assembly 51, a locking driving gear 52 and a locking synchronous wheel 53. The driving end of the locking driving assembly 51 is connected with the locking driving gear 52, and the locking synchronous wheel 53 is engaged with the locking driving gear 52. The locking synchronous wheel 53 is connected with the locking screw 61, and is used to drive the locking screw 61 to rotate or move axially. Specifically, the locking driving assembly 51 comprises a driving mounting frame 511, a driving motor 512 and a driving connecting piece 513. The driving mounting frame 511 is arranged on the mounting bracket 2, the driving motor 512 is arranged on the driving mounting frame 511, and the driving motor 512 is connected with the locking driving gear 52 through the driving connecting piece 513. In this embodiment, the driving end of the driving assembly is connected with the locking driving gear 52, so that the power can be effectively transmitted and the stability of driving can be ensured. The locking synchronous wheel 53 is engaged with the locking driving gear 52 and is connected with the locking screw 61, so that the locking screw 61 can be driven to rotate or move axially, and the position and force during the docking process can be accurately controlled. Specifically, the driving mounting frame 511 is stably arranged on the mounting bracket 2 to provide reliable support for the driving motor 512. The driving motor 512 is arranged on the driving mounting frame 511 and is connected with the locking driving gear 52 through the driving connecting piece 513. This structure design makes the power transmission more smooth and efficient, so that the robot docking device can quickly and accurately complete the operation during the docking process.

[0030] Referring to Figure 3The locking drive mechanism 5 comprises a locking drive assembly 51, a locking drive gear 52, and a locking synchronization wheel 53. The driving end of the locking drive assembly 51 is connected with the locking drive gear 52, and the locking synchronization wheel 53 is engaged with the locking drive gear 52. The locking synchronization wheel 53 is connected with the locking screw 61, and is used to drive the locking screw 61 to rotate or move axially. Specifically, the locking drive assembly comprises a driving mounting frame 511, a driving motor 512, and a driving connecting piece 513. The driving mounting frame 511 is arranged on the mounting bracket 2, the driving motor 512 is arranged on the driving mounting frame 511, and the driving connecting piece 513 comprises an output gear 5131 and an adapter tooth rod 5132. The locking drive gear 52 is provided with an external tooth disc 521, and the external tooth disc 521 is engaged with the adapter tooth rod 5132. The driving motor 512 drives the external tooth disc 521 to rotate through the output gear 5131 and the adapter tooth rod 5132. In this embodiment, the locking drive assembly 51, the locking drive gear 52, and the locking synchronization wheel 53 cooperate with each other to realize precise and efficient driving function. The driving motor 512 of the driving assembly drives the external tooth disc 521 of the locking drive gear 52 to rotate through the output gear 5131 and the adapter tooth rod 5132, and then drives the locking drive gear 52 to operate. The locking synchronization wheel 53 is engaged with the locking drive gear 52 to accurately transmit power and drive the locking screw 61 to rotate or move axially. The robot docking can be provided with stable and reliable driving force to ensure the accurate cooperation of each component during the docking process. Through precise gear transmission, the precise control of the movement of the locking screw 61 can be realized to meet the requirements of position and force in different docking scenes.

[0031] The outer periphery of the rotating fixed frame 21 is provided with a third bearing 211 connected with the inner diameter of the locking drive gear 52, and the mounting part 11 is provided with a mounting block 111 connected with the rotating fixed frame 21 through screws. In this embodiment, the third bearing 211 provides stable support and precise rotation positioning for the locking drive gear 52, ensures smooth rotation of the locking drive gear 52 around the rotating fixed frame 21 during operation, greatly reduces friction loss, improves transmission efficiency and stability, and guarantees the stability of power transmission during docking. The mounting block 111 of the mounting part 11 is connected with the rotating fixed frame 21 through screws to realize reliable and stable mechanical connection between them. The precise cooperation between the mounting block 111 and the rotating fixed frame 21 enables the relative positions between the components of the robot docking connection device to be accurately fixed, and the structural integrity and stability can be maintained when facing complex docking conditions and external forces.

[0032] The shaft center of the rotating fixing frame 21 is provided with a mounting table 212, the mounting table 212 is provided with a docking installation slot 213, and the docking connector 4 is arranged on the docking installation slot 213. In the embodiment, the mounting table 212 provides stable bearing for the docking connector 4, ensures that the docking connector 4 maintains a stable position during the whole operation of the device, reduces shaking and deviation, and improves the accuracy of docking. The design of the docking installation slot 213 realizes accurate positioning and installation of the docking connector 4, so that the connector can be installed according to the preset position and angle, ensures accurate docking of each component during the docking process, and avoids docking failure or loose connection caused by position deviation.

[0033] The above embodiments only express several embodiments of the present application, and the description is more specific and detailed, but it cannot be understood as a limitation on the scope of the present application. It should be pointed out that for ordinary skilled persons in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which belong to the protection scope of the present application. Therefore, the protection scope of the present application patent should be subject to the appended claims.

Claims

1. A robotic docking connection apparatus, characterized by: The utility model provides a kind of docking mechanism, including fixed panel, mounting bracket, docking guide mechanism, docking connector, locking drive mechanism and docking locking mechanism, the fixed panel is provided with mounting portion, the docking guide mechanism is arranged in mounting portion, the mounting bracket is installed in one side of fixed panel, the locking drive mechanism is arranged on mounting bracket, the docking locking mechanism is connected with locking drive mechanism, rotating fixing frame is provided in the mounting bracket, and the docking connector is arranged on rotating fixing frame;The docking guide mechanism is provided with multiple guide elements, and multiple guide elements are distributed in ring around docking connector as center.

2. The robotic docking connection apparatus of claim 1, wherein: The guide element includes guide connecting portion, guide slope and guide positioning end, the guide connecting portion is arranged on the fixed panel, the guide slope is arranged on the guide connecting portion, and the guide positioning end is arranged at the end of the guide slope;At least two guide elements are provided, and at least two guide elements are distributed in ring around docking connector as center.

3. The robotic docking connection apparatus of claim 1, wherein: The fixed panel is provided with a first mounting groove, the mounting bracket is provided with a transmission cavity in the position opposite to the first mounting groove, the transmission cavity is provided with a second mounting groove on the side opposite to the first mounting groove, the first mounting groove is provided with a first bearing, the second mounting groove is provided with a second bearing, and the docking locking mechanism is arranged on the first bearing and the second bearing.

4. The robotic docking connection apparatus of claim 3, wherein: The docking locking mechanism includes a locking screw and a locking fixed rod, the locking screw is arranged on the first bearing and the second bearing, the first end of the locking screw extends to the outside of the fixed panel, and the locking fixed rod is connected with the first end of the locking screw.

5. The robotic docking connection apparatus of claim 4, wherein: The bottom surface of the second mounting groove is provided with a limiting groove, the second end of the locking screw is provided with a locking limiting rod, the second end of the locking screw extends to the limiting groove, and the limiting groove is used for limiting the locking limiting rod.

6. The robotic docking connection apparatus of claim 3, wherein: The locking drive mechanism includes a locking drive assembly, a locking drive gear and a locking synchronous wheel, the driving end of the locking drive assembly is connected with the locking drive gear, and the locking synchronous wheel is engaged with the locking drive gear. The locking synchronous wheel is connected with the locking screw, and the locking synchronous wheel is used to drive the locking screw to rotate or move axially.

7. The robotic docking connection apparatus of claim 6, wherein: The locking drive assembly includes a driving mounting frame, a driving motor and a driving connecting piece, the driving mounting frame is arranged on the mounting bracket, the driving motor is arranged on the driving mounting frame, and the driving motor is connected with the locking drive gear through the driving connecting piece.

8. The robotic docking connection apparatus of claim 6, wherein: The locking drive assembly includes a driving mounting frame, a driving motor and a driving connecting piece, the driving mounting frame is arranged on the mounting bracket, the driving motor is arranged on the driving mounting frame, the driving connecting piece includes an output gear and a switching gear rod, the locking drive gear is provided with an external gear disc, and the external gear disc is engaged with the switching gear rod;The driving motor drives the external gear disc to rotate through the output gear and the switching gear rod.

9. The robotic docking connection apparatus of claim 1, wherein: The outer periphery of the rotating fixing frame is provided with a third bearing, the third bearing is connected with the inner diameter of the locking drive gear;The mounting portion is provided with a mounting block, and the mounting block is connected with the rotating fixing frame through screws.

10. The robotic docking connection apparatus of claim 1, wherein: The shaft of the rotating fixing frame is provided with a mounting table, the mounting table is provided with a docking mounting slot, and the docking connector is arranged on the docking mounting slot.

Images