Automatic flexible docking device for a robot
By introducing an automatic flexible docking system into the robotic oil sampling device, and utilizing floating adjustment and multi-dimensional movement mechanisms, the problems of accuracy and stability when docking the robot with the transformer oil sampling pipeline port were solved, achieving the effects of flexible and rapid docking.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-06-11
- Publication Date
- 2026-07-03
AI Technical Summary
Existing robotic oil sampling devices cannot achieve high-precision adaptive adjustment and rapid and accurate docking when connecting to the transformer oil sampling pipeline port, which easily leads to problems such as wear, positional misalignment and leakage.
An automatic flexible docking system, including a first docking device and a second docking device, is adopted. Through the first docking joint, a floating adjustment mechanism and a multi-dimensional moving mechanism, the docking joint can achieve adaptive floating adjustment and precise docking. Combined with the centering mechanism and docking guide structure, the stability and accuracy of docking are ensured.
This technology enables flexible docking between the robot and the transformer oil intake pipeline port, improving the accuracy and speed of docking, reducing wear and leakage risks, and enhancing the stability and reliability of the docking system.
Smart Images
Figure CN224454105U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of automatic docking structure settings for robots. Background Technology
[0002] An automatic oil sampling robot is used in the daily operation and maintenance of transformers to periodically collect oil samples. When collecting oil samples, the robot needs to connect with the oil sampling pipeline port of the transformer to achieve oil circuit connection and collect oil. Since the oil sampling pipeline port of the robot and the oil sampling pipeline port of the transformer cannot be in a relatively fixed position, an auxiliary mechanism that can automatically connect and adjust to achieve effective connection must be set up.
[0003] Typically, docking systems use visual images to calculate and control the robot's docking position adjustment, or cruise control for docking positioning. However, in practice, neither visual image positioning nor cruise control can achieve high-precision positioning. Collisions and friction still occur during docking, which over time can cause wear or positional misalignment on the docking components, potentially affecting effective docking or causing leaks. To address this issue, some robots incorporate docking mechanisms with secondary positioning to assist in position correction. However, existing docking mechanisms, when applied to small ports such as oil pipeline docking, still cannot achieve high-precision adaptive adjustment and rapid, accurate docking, thus requiring further improvement. Utility Model Content
[0004] The purpose of this invention is to provide an automatic flexible docking device for robots that achieves flexible docking with adaptive floating adjustment of docking position and precise and rapid docking through structural design.
[0005] To achieve the above objectives, the technical solution of this utility model is: an automatic flexible docking device for a robot, comprising a first docking device and a second docking device. The first docking device includes a first mating head, a first multi-dimensional moving mechanism, and a floating adjustment mechanism. The first mating head is disposed on the first multi-dimensional moving mechanism and its position is adjusted in different directions by the mechanism. The first mating head is disposed on the floating adjustment mechanism, which is configured to enable the first mating head to adaptively adjust its position in a floating state to dock with the second docking device. The second docking device includes a second mating head for docking with the first mating head and a docking guide structure corresponding to the second mating head for guiding the docking of the first mating head.
[0006] The first coupling includes a docking end and a movable mounting end. The first multi-dimensional moving mechanism includes a first docking module with a first docking seat. The movable mounting end is mounted on the first docking seat through a movable connection structure. The movable connection structure is configured to achieve adaptive relative movement between the first coupling and the first docking seat by floating adjustment mechanism. The floating adjustment mechanism includes a floating fixed seat, a floating sleeve, and a floating component. The floating sleeve is mounted on the floating fixed seat through multi-directional flexible support of the floating component. The floating sleeve has mounting holes that are corresponding to the outer periphery of the first coupling and pass through it. The docking end passes through the floating adjustment mechanism for docking with the second coupling.
[0007] The movable connection structure includes a connecting rod with both ends preventing detachment and movably connected to the movable mounting end and the first docking seat, and / or a docking elastic member with both ends abutting against the movable mounting end and the first docking seat.
[0008] The connecting rod includes a central rod and a support rod. The movable mounting end and the first docking seat are respectively provided with through holes for the two ends of the central rod and the support rod to pass through. The cross-sectional area of the through holes is larger than the cross-sectional area of the central rod and / or the support rod to form a movable space.
[0009] The floating fixing seat includes front and rear plates spaced apart and an outer peripheral plate surrounding the front and rear plates. A floating space is formed between the front and rear plates and the outer peripheral plate. The floating sleeve is embedded in the floating space. The floating component is a supporting elastic component, which is arranged between the floating sleeve and the inner wall of the floating space and supports the floating sleeve in multiple directions.
[0010] The first multidimensional moving mechanism also includes a transverse compensation module with a transverse sliding seat. The first docking module and the floating adjustment mechanism are disposed on the transverse sliding seat. The docking end passes through the floating adjustment mechanism and is mounted on the mounting hole, moving axially to dock with the second docking head.
[0011] The second docking device further includes an alignment mechanism for adjusting the alignment and positioning of the first docking head corresponding to the second docking head during docking; and / or, it further includes a second docking module having a second docking seat for the second docking head to be fixedly mounted.
[0012] The docking guide structure is a guide seat with a guide hole for the first docking head to pass through into the corresponding second docking head. The centering mechanism includes a centering module with two centering seats that are adjusted synchronously relative to each other and a pushing component that is fixedly installed on the opposite surfaces of the two centering seats for pushing the first docking head. The guide seat is provided with a through hole for the pushing component to pass through.
[0013] The second docking device is provided with a docking limiting structure for limiting the docking of the first pair of joints and / or the second pair of joints.
[0014] By adopting the above technical solution, the beneficial effects of this utility model are as follows: the first docking device in the above docking system and the second docking device can be fixedly installed for the two docking components (such as the docking end of the oil pipeline) to be docked. The docking of the two components is achieved by the action of the first docking device and the second docking device. Its floating adjustment mechanism is constructed to enable the first docking device to achieve a floating state and adaptively adjust its position to dock with the second docking device. During docking, the first multi-dimensional moving mechanism and other actions can achieve preliminary adjustment and positioning. Then, the floating adjustment mechanism and the floating adaptive docking guide structure can guide and adjust the positioning more accurately, thereby achieving precise docking with the second docking device. Its floating adjustment mechanism enables the first docking device and the second docking device to have a flexible adjustment effect during docking, which further achieves a precise and fast docking effect.
[0015] The aforementioned floating adjustment mechanism and the further structural configuration of the first and second docking devices provide a structurally stable, reliable, and less prone-to-failure structure, and further enhance the effects of flexible docking and precise and rapid docking. Attached Figure Description
[0016] Figure 1 This is a structural schematic diagram of an automatic flexible docking device for a robot, which relates to this utility model.
[0017] Figure 2 and Figure 3 This is a schematic diagram of the first docking device at different angles in an automatic flexible docking device for a robot, which relates to this utility model.
[0018] Figure 4 and Figure 5 This is a schematic diagram of the second docking device at different angles in an automatic flexible docking device for a robot, which relates to this utility model.
[0019] In the picture:
[0020] First docking device 1; First docking joint 11; Docking end 111; Mobile erection end 112;
[0021] First multi-dimensional moving mechanism 12; First docking module 121; First docking seat 1211;
[0022] Movable connection structure 122; mating elastic element 1221; center rod 1222; support rod 1223;
[0023] Lateral displacement compensation module 123; Lateral displacement base 1231;
[0024] Floating adjustment mechanism 13; floating fixed seat 131; front and rear plates 1311; outer peripheral plate 1312;
[0025] Floating sleeve 132; mounting hole 1321; floating component 133;
[0026] Second docking device 2; Second docking joint 21; Docking guide structure 22; Through hole 221;
[0027] Centering mechanism 23; centering module 231; centering base 2311; pushing component 232;
[0028] Second docking module 24; second docking seat 241; docking limiting structure 25. Detailed Implementation
[0029] To further explain the technical solution of this utility model, the following detailed description is provided through specific embodiments.
[0030] This embodiment discloses an automatic flexible docking device for robots, such as... Figure 1 As shown, it includes a first docking device 1 and a second docking device 2. In use, the two devices are respectively installed on different equipment. For example, when applied to a fully automatic oil sampling system, the first docking device 1 can be installed on the robot, and the second docking device 2 can be installed on the oil sampling integrated cabinet. The specific structural settings and positional connection relationships disclosed in this embodiment are described in detail below with reference to the accompanying drawings.
[0031] The first docking device 1, such as Figure 1 , Figure 2 and Figure 3The system includes a first coupling connector 11, a first multi-dimensional moving mechanism 12, and a floating adjustment mechanism 13. The first multi-dimensional moving mechanism 12 can include multi-axis adjustment movements such as lifting adjustment, lateral adjustment, and docking advance / retreat adjustment. As shown in the figure of this embodiment, it includes two dimensions of adjustment movement: lateral adjustment implemented by a lateral compensation module 123 and docking advance / retreat adjustment implemented by a first docking module 121. The lateral compensation module 123 is fixedly installed, and the first docking module 121 is mounted on the lateral seat 1231 of the lateral compensation module 123. The first coupling connector 11 is mounted on the first docking seat 1211 of the first docking module 121. Thus, the first coupling connector 11 is driven to adjust its position in different directions through the first multi-dimensional moving mechanism 12. In this embodiment, the first coupling connector 11 functions as a docking seat, on which the docking components to be docked (such as the docking end of an oil pipeline, docking terminals of other devices, etc.) are fixedly mounted. Its volume can be increased relative to the docking components to be docked, making it easier to improve docking accuracy. To achieve the aforementioned adaptive floating structure, the first mating joint 11 of this invention is also disposed on the floating adjustment mechanism 13. The floating adjustment mechanism 13 is configured to enable the first mating joint 11 to adaptively adjust its position in a floating state and dock with the second docking device 2. The floating adjustment mechanism 13 can be disposed on the transverse sliding seat 1231 or the first docking seat 1211. In this embodiment, to achieve better adaptive floating and a more flexible docking in all directions with overall docking buffer, the floating adjustment mechanism 13 is disposed on the transverse sliding seat 1231, allowing the first mating joint 11 to move forward and backward relative to the floating adjustment mechanism 13 during docking. The adaptive floating of the floating adjustment mechanism 13 can also play an adaptive adjustment role in the forward and backward direction. Figure 3As shown, the first coupling 11 includes a docking end 111 and a movable mounting end 112. The movable mounting end 112 is mounted on the first docking seat 1211 via a movable connecting structure 122. This movable connecting structure 122 is configured to allow for adaptive movement between the first coupling 11 and the first docking seat 1211, which can be adjusted by the floating adjustment mechanism 13. As shown, the movable connecting structure 122 includes connecting rods at both ends that are prevented from detaching and are movably connected to the movable mounting end 112 and the first docking seat 1211. The connecting rods have a certain length to prevent direct contact between the movable mounting end 112 and the first docking seat 1211, thus avoiding interference with the adaptive movement. To achieve better stable mounting support and adaptive movement, in this embodiment, the connecting rod includes a central rod 1222 and a support rod 1223. The movable mounting end 112 and the first docking seat 1211 are respectively provided with through holes for the two ends of the central rod 1222 and the support rod 1223 to pass through. The cross-sectional area of the through holes is larger than that of the central rod 1222 and / or the support rod 1223, forming a movable space. As shown in the figure, the through hole corresponding to the central rod 1222 has a diameter larger than that of the central rod 1222, while the through hole corresponding to the support rod 1223 is a horizontal elongated hole with a larger movable space. The central rod 1222 provides fixation of the center position range, and the support rod 1223 further plays a role in connecting, supporting, balancing, and stabilizing. The movable space formed by the through holes and the central rod 1222 and / or the support rod 1223 provides an adjustment space for the adaptive movement of the first docking head 11, thus achieving the above-mentioned desired effect. Furthermore, to further enhance the effects of flexible docking and docking stability, the movable connection structure 122 may be provided with a docking elastic element 1221 whose two ends respectively abut against the movable mounting end 112 and the first docking seat 1211. The docking elastic element 1221 can be compressed when the first pair of connectors 11 and the second docking device 2 are docked in place, so as to further provide flexible docking at this time. The elastic tension of the docking elastic element 1221 can also make the first pair of connectors 11 and the second docking device 2 stably docked.
[0032] The aforementioned floating adjustment mechanism 13, in this embodiment, is as follows: Figure 2 and Figure 3 As shown, it includes a floating fixing base 131, a floating sleeve 132, and a floating component 133. The floating fixing base 131 in the figure includes two square-shaped front and rear plates 1311 with through holes in the middle, spaced apart and opposite to each other, and an outer peripheral plate 1312 surrounding the four outer peripheries of the front and rear plates 1311. A floating space is formed between the front and rear plates 1311 and the outer peripheral plate 1312, and the floating sleeve 132 is embedded within the floating space (e.g., ...). Figure 1 The image shown is of an enclosed state. Figure 2 and Figure 3To remove the internal structure of the two front and rear plates 1311, the floating element 133 is a supporting elastic element, which is set between the floating sleeve 132 and the inner wall of the floating space and supports the floating sleeve 132 in multiple directions. As shown in the figure, the elastic element is a spring. On the two sides of the floating sleeve 132, there are positioning grooves for the spring to be inserted at the four corners and the four edges near the two ends. The outer peripheral plate 1312 also has a positioning structure for positioning the end of the spring at the corresponding positioning groove. In this way, the floating sleeve 132 is flexibly supported on the floating fixed base 131 in multiple directions by the floating element 133, and has balanced elastic support in the up, down, left, right and front and back directions. The floating sleeve 132 achieves an adaptive floating adjustment effect through this elastic support. The floating sleeve 132 is provided with a mounting hole 1321 that corresponds to the outer contour of the first connector 11 and is inserted therein. The mating end 111 of the first connector 11 passes through the floating adjustment mechanism 13 for mating with the second connector 21 described below. In this way, the first connector 11 is inserted into the mounting hole 1321, which can achieve the adaptive floating adjustment effect of the floating sleeve 132, as well as the stable mounting effect and the axial movement guiding effect. Therefore, this structure can effectively improve the effective adjustment and stable reliability of the docking.
[0033] The second docking device 2, such as Figure 1 , Figure 4 and Figure 5 As shown, the device includes a second connector 21 for mating with the first connector 11, and a docking guide structure 22 corresponding to the second connector 21 for guiding the mating of the first connector 11. The second connector 21, like the first connector 11, serves as a docking seat, on which the actual mating components (such as oil pipe terminals, other device terminals, etc.) to be mated are fixedly mounted. The docking guide structure 22 serves as a positioning guide, ensuring that the mating components of the second connector 21 precisely align with the mating components of the first connector 11. This docking guide structure 22, in conjunction with the first connector 11, allows for a larger-volume mating relative to the actual mating components, thereby facilitating adjustments to improve mating accuracy. In this utility model, the second docking device 2 can also be provided with a multi-axis adjustment and movement mechanism to realize lifting adjustment, lateral adjustment, and docking advance and retreat adjustment, or it can be compensated or coordinated according to the adjustment and movement structure of the first docking device 1, or it can be configured according to the actual application equipment environment, such as an oil sampling integrated cabinet applied to a fixed position, which is set in a relatively fixed position and does not require lifting adjustment, lateral adjustment, or docking advance and retreat adjustment. The specific configuration is selected according to the actual situation. In the figure, the second docking device 2 also includes a second docking module 24 with a second docking seat 241 for fixing the second docking connector 21. The second docking module 24 can push the second docking connector 21 forward for docking.
[0034] Furthermore, in this utility model, as Figure 1 , Figure 4 and Figure 5 As shown, the second docking device 2 also includes a centering mechanism 23 for adjusting the centering and positioning of the first docking head 11 corresponding to the second docking head 21 during docking. The centering mechanism 23 is preset to adjust the centering position of the first docking head 11 and the second docking head 21 to a precise position. By utilizing the adaptive floating adjustment effect of the first docking head 11, the centering mechanism 23 actively contacts the first docking head 11 to accurately adjust it to the precise docking position, thereby achieving high-precision docking and fast docking. The centering mechanism 23 pushes the first mating connector 11 to a precise mating position. The specific pushing structure in this embodiment is shown in the figure. The mating guide structure 22 is a guide seat with a guide hole for the first mating connector 11 to pass through into the corresponding second mating connector 21. It is fixedly installed at the front end of the second mating module 24, with the guide hole facing the second mating connector 21. The guide hole of the guide seat has a flared port that guides the mating end 111 during mating. The centering mechanism 23 includes a centering module 231 with two opposing synchronously adjustable centering seats 2311 and pushing components 232 fixedly installed on the opposing surfaces of the two centering seats 2311 for pushing the first mating connector 11. The guide seat is equipped with... There is a through hole 221 through which the pushing component 232 can pass. When the centering module 231 is working, it drives the two pairs of center seats 2311 to adjust and move synchronously relative to each other or synchronously opposite to each other. Thus, during docking, after the first docking device 1 reaches the guide hole of the guide seat through the action of the docking end 111, the centering module 231 works to make the two pairs of center seats 2311 adjust and move synchronously relative to each other. The end of the pushing component 232 on it goes into the guide hole to push the docking end 111 until the ends of the two pushing components 232 hit the first docking joint 11, that is, the docking end 111 is aligned. The first docking module 121 and / or the second docking module 24 can then further push the docking of the first docking joint 11 and / or the second docking joint 21 respectively. For the docking positions of the first connector 11 and the second connector 21, a docking limiting structure can be further provided. The second docking device 2 can be provided with a docking limiting structure 25 for limiting the docking of the first connector 11 and / or the second connector 21, as shown in the figure. It is set on the guide seat to avoid problems such as the influence of docking force. Before disengagement, the two pushing parts 232 are adjusted and moved in opposite directions. The first docking device 1 and the second docking device 2's two action mechanisms are reset to complete the docking and disengagement.
[0035] The above embodiments and figures are not intended to limit the product form and style of this utility model. Any appropriate changes or modifications made by those skilled in the art should be considered as not departing from the patent scope of this utility model.
Claims
1. An automatic flexible docking device of a robot, comprising a first docking device and a second docking device, characterized in that, The first docking device includes a first mating head, a first multi-dimensional moving mechanism, and a floating adjustment mechanism. The first mating head is mounted on the first multi-dimensional moving mechanism and its position is adjusted in different directions by the mechanism. The first mating head is also mounted on the floating adjustment mechanism, which is configured to enable the first mating head to adaptively adjust its position in a floating state to dock with the second docking device. The second docking device includes a second mating head for docking with the first mating head and a docking guide structure corresponding to the second mating head for guiding the docking of the first mating head.
2. A robotic automatic flexible docking device as claimed in claim 1, characterized in that, The first coupling includes a docking end and a movable mounting end. The first multi-dimensional moving mechanism includes a first docking module with a first docking seat. The movable mounting end is mounted on the first docking seat through a movable connection structure. The movable connection structure is configured to achieve adaptive relative movement between the first coupling and the first docking seat by floating adjustment mechanism. The floating adjustment mechanism includes a floating fixed seat, a floating sleeve, and a floating component. The floating sleeve is mounted on the floating fixed seat through multi-directional flexible support of the floating component. The floating sleeve has mounting holes that are corresponding to the outer periphery of the first coupling and pass through it. The docking end passes through the floating adjustment mechanism for docking with the second coupling.
3. A robotic automatic flexible docking device as claimed in claim 2, wherein, The movable connection structure includes a connecting rod with both ends preventing detachment and movably connected to the movable mounting end and the first docking seat, and / or a docking elastic member with both ends abutting against the movable mounting end and the first docking seat.
4. A robotic automatic flexible docking device as claimed in claim 3, wherein, The connecting rod includes a central rod and a support rod. The movable mounting end and the first docking seat are respectively provided with through holes for the two ends of the central rod and the support rod to pass through. The cross-sectional area of the through holes is larger than the cross-sectional area of the central rod and / or the support rod to form a movable space.
5. The automatic flexible docking device of a robot according to claim 1, wherein, The second docking device is provided with a docking limiting structure for limiting the docking of the first and / or second joints.
6. A robot automatic flexible docking device according to any one of claims 2-4, characterized in that, The floating fixing seat includes front and rear plates spaced apart and an outer peripheral plate surrounding the front and rear plates. A floating space is formed between the front and rear plates and the outer peripheral plate. The floating sleeve is embedded in the floating space. The floating component is a supporting elastic component, which is arranged between the floating sleeve and the inner wall of the floating space and supports the floating sleeve in multiple directions.
7. A robot automatic flexible docking device according to any one of claims 2-4, characterized in that, The first multidimensional moving mechanism also includes a transverse compensation module with a transverse base. The first docking module and the floating adjustment mechanism are disposed on the transverse base. The docking end passes through the floating adjustment mechanism and is mounted on the mounting hole, moving axially to dock with the second docking head. And / or, the second docking device further includes an alignment mechanism for adjusting the alignment and positioning of the first mating joint corresponding to the second mating joint during docking; And / or, the second docking device further includes a second docking module having a second docking seat for fixing the second mating joint.
8. A robotic automatic flexible docking device as claimed in claim 6, wherein, The first multidimensional moving mechanism also includes a transverse compensation module with a transverse base. The first docking module and the floating adjustment mechanism are disposed on the transverse base. The docking end passes through the floating adjustment mechanism and is mounted on the mounting hole, moving axially to dock with the second docking head. And / or, the second docking device further includes an alignment mechanism for adjusting the alignment and positioning of the first mating joint corresponding to the second mating joint during docking; And / or, the second docking device further includes a second docking module having a second docking seat for fixing the second mating joint.
9. A robotic automatic flexible docking device as in claim 7, wherein, The docking guide structure is a guide seat with a guide hole for the first docking head to pass through into the corresponding second docking head. The centering mechanism includes a centering module with two centering seats that are adjusted synchronously relative to each other and a pushing component that is fixedly installed on the opposite surfaces of the two centering seats for pushing the first docking head. The guide seat is provided with a through hole for the pushing component to pass through.
10. The automatic flexible docking device for a robot as described in claim 8, characterized in that, The docking guide structure is a guide seat with a guide hole for the first docking head to pass through into the corresponding second docking head. The centering mechanism includes a centering module with two centering seats that are adjusted synchronously relative to each other and a pushing component that is fixedly installed on the opposite surfaces of the two centering seats for pushing the first docking head. The guide seat is provided with a through hole for the pushing component to pass through.