CN115962349A

CN115962349A - Quick air supply source butt joint device and robot operation system

Info

Publication number: CN115962349A
Application number: CN202211674485.3A
Authority: CN
Inventors: 朱彬能; 钟绪海; 刘伟
Original assignee: Shenzhen Mo Ying Technology Co ltd
Current assignee: Shenzhen Mo Ying Technology Co ltd
Priority date: 2022-12-26
Filing date: 2022-12-26
Publication date: 2023-04-14
Anticipated expiration: 2042-12-26
Also published as: CN115962349B

Abstract

The invention relates to a fast air supply source butt joint device and a robot operating system, wherein the fast air supply source butt joint device comprises: the first support piece, the first diversion subassembly, the first reset subassembly, the second support piece, the second diversion subassembly and the second reset subassembly. The first flow directing assembly is slidably coupled to the first support member along a first translational dimension. The first diversion assembly is provided with a first guide surface. The second flow directing assembly is slidably coupled to the second support along a second translational dimension. The second flow directing assembly is positionable at a second location point relative to the second support along a second translational dimension. The second flow guide assembly is provided with a second guide surface, and when the second flow guide assembly deviates from the second positioning point, the second reset acting force enables the second flow guide assembly to reset to the second positioning point. The second guide surface abuts against the first guide surface to form a positioning biasing force. The butting deviation of the first flow guide assembly and the second flow guide assembly in the first translation dimension or the second translation dimension is eliminated under the action of the aligning action force.

Description

Fast air supply source butt joint device and robot operation system

Technical Field

The invention relates to the technical field of robots, in particular to a quick air supply butt joint device and a robot operating system.

Background

The mobile robot can move to different stations in a production environment to transfer or process materials or workpieces. The mobile robot includes an AGV cart or a mobility assistance robot. Some mobile robots need to use air source to drive to apply a certain pressure to the material or the workpiece, for example, when the workpiece needs to be transferred, the workpiece can be clamped by using the air source to drive, and then the workpiece is transferred along a predetermined path under the operation of the motion control mechanism.

Before the mobile robot is driven by an air source, an air source butt joint port (a mobile port) on the mobile robot needs to be in butt joint with an air source butt joint port (a fixed port) on a station, so that a communicated air path is formed between the mobile robot and an air supply device fixed on the station. However, since the mobile port may need to be docked with the fixed ports at different stations, or the fixed port may need to be docked with the mobile ports of different mobile robots, positional deviations may easily occur between the mobile port and the fixed port in different directions on a plane, so that the mobile port and the fixed port cannot be docked accurately.

Disclosure of Invention

Accordingly, it is necessary to provide a fast air supply docking device and a robot operating system, which are capable of solving the problem that accurate docking is difficult due to position deviation of a mobile port and a fixed port in different directions on a plane.

A fast gas supply docking assembly, comprising:

a first supporting member for supporting the first support member,

a first flow directing assembly slidably connected to the first support member along a first translational dimension; the first flow directing assembly is positionable at a first orientation point relative to the first support along the first translational dimension; the first flow guide assembly is provided with a first guide surface;

the first reset assembly is connected with the first flow guide assembly and applies a first reset acting force to the first flow guide assembly; the first flow guide assembly is reset to the first positioning point under the action of the first reset acting force;

a second support member;

a second flow directing assembly slidably connected to the second support along a second translational dimension; the second flow directing assembly is positionable at a second location point relative to the second support along the second translational dimension; the second flow guide assembly is provided with a second guide surface;

the second reset assembly is connected with the second flow guide assembly and applies a second reset acting force to the second flow guide assembly; the second flow guide assembly is reset to the second positioning point under the action of the second resetting action force; the second guide surface and the first guide surface are abutted to form a positioning acting force; the butting deviation of the first flow guide assembly and the second flow guide assembly in the first translation dimension or the second translation dimension is eliminated under the action of the aligning action force.

In the fast air supply source docking device, in the preliminary docking, the second supporting piece moves close to the first supporting piece along the main path, and meanwhile, the first flow guide assembly and the second flow guide assembly are close to each other. When the first flow guide assembly and the second flow guide assembly are in contact with the second guide surface through the first guide surface, the second flow guide assembly and the first flow guide assembly are in a preliminary butt joint state. The second guide surface and the first guide surface form alignment acting force through abutting, the alignment acting force enables the first flow guide assembly to overcome the first reset acting force and leave the first positioning point along the first translation dimension, and the first flow guide assembly moves to the position corresponding to the second flow guide assembly along the first translation dimension. Meanwhile, the alignment action force enables the second flow guide assembly to overcome the second reset action force and leave the second positioning point along the second translation dimension, and the second flow guide assembly moves to the position corresponding to the first flow guide assembly along the second translation dimension. Therefore, on a plane perpendicular to the relative movement direction between the first support piece and the second support piece, the alignment acting force eliminates the position deviation between the first flow guide assembly and the second flow guide assembly, namely the butt joint deviation, so that the positions of the first flow guide assembly and the second flow guide assembly are mutually adaptive, and the problem that the first flow guide assembly and the second flow guide assembly cannot be accurately butted due to the position deviation in different directions on the plane is avoided.

In one embodiment, the first flow guide assembly is provided with a first through cavity, the first guide surface is arranged around a transition port of the first through cavity, and the inner diameter of the first guide surface is reduced along the direction close to the transition port; and/or the second flow directing assembly has a draft tube, the second guide surface is disposed at the draft tube and the second guide surface is disposed around an outer port of the draft tube, an outer diameter of the second guide surface decreases in a direction approaching the outer port.

In one embodiment, the first reset assembly comprises a first elastic element and a second elastic element, the first elastic element generates a first elastic acting force on the first flow guide assembly, and the second elastic element generates a second elastic acting force in a direction opposite to the first elastic acting force on the first flow guide assembly; and/or the presence of a catalyst in the reaction mixture,

the second reset assembly comprises a third elastic piece and a fourth elastic piece, the third elastic piece generates a third elastic acting force on the second flow guide assembly, and the fourth elastic piece generates a fourth elastic acting force opposite to the third elastic acting force in direction on the second flow guide assembly.

In one embodiment, the first flow guide assembly comprises a main fluid and a flow control member slidably connected to the main fluid; the main guide fluid is provided with a first through cavity and a second through cavity; the flow control piece can move to a through-flow station or a flow cutoff station relative to the main fluid; when the flow control piece is positioned at the through-flow station, the first through cavity is communicated with the second through cavity; when the flow control member is positioned at the flow cutoff station, the flow control member forms isolation between the first through cavity and the second through cavity.

In one embodiment, the fast gas supply docking device further comprises a docking driving assembly, and the docking driving assembly is used for driving the first flow guide assembly and the second flow guide assembly to move relatively along a third translation dimension; the flow control member is slidably disposed relative to the primary fluid along the third translational dimension; the first flow guide assembly further comprises a fifth elastic element connected to the flow control element; the second flow guide assembly is provided with a trigger piece; the trigger piece and the fifth elastic piece can respectively generate opposite acting force on the flow control piece.

In one embodiment, the second flow guiding assembly includes a base slidably connected to the second support, a secondary flow guiding body passing through the base, and a limiting member connected to the base; a gap is formed between the auxiliary flow deflector and the base; the limiting parts elastically abut against the auxiliary flow guiding body from multiple angles along the first circumferential direction.

In one embodiment, the secondary flow deflector comprises an inner rod portion penetrating through the base and an outer rod portion connected to the inner rod portion; the base has a first side facing the outer rod portion; the outer rod part is provided with a second side surface facing the base; at least one of the first side surface and the second side surface is a convex cambered surface.

A robot working system includes a fast air supply docking device.

In one embodiment, the robotic work system has a plurality of work stations; the operation station is correspondingly provided with the first supporting piece, the first flow guide assembly and the first reset assembly; the robot operating system includes a mobile robot; the second support is connected to the mobile robot.

In one embodiment, the method comprises the following steps: a first mobile robot and a second mobile robot; the first mobile robot is connected with the first supporting piece, the first flow guide assembly and the first reset assembly; the first mobile robot is provided with an air source device connected to the first flow guide assembly; the second mobile robot is connected with the second supporting piece, the second flow guide assembly and the second reset assembly; the second mobile robot is provided with an air pressure driving mechanism connected with the second flow guide assembly.

Drawings

Fig. 1 is a perspective view of a fast air supply docking apparatus according to an embodiment of the present invention, wherein a first diversion assembly and a second diversion assembly are not initially docked;

FIG. 2 is a partial schematic view of the fast gas supply docking apparatus shown in FIG. 1, wherein the second support, the second flow guide assembly and the second reset assembly are hidden;

FIG. 3 is a partial schematic view of the fast gas supply docking assembly shown in FIG. 2;

FIG. 4 is a partial schematic view of the fast gas supply docking assembly of FIG. 3 at another angle;

FIG. 5 is a partial schematic view of the fast gas supply docking apparatus shown in FIG. 1, wherein the first support member, the first flow guide assembly and the first reset assembly are hidden;

FIG. 6 is a partial schematic view of the fast air supply docking assembly of FIG. 5 with the docking actuator assembly hidden;

FIG. 7 is a perspective view of the fast gas supply docking assembly of FIG. 6 at another angle;

FIG. 8 is a partial schematic view of a second baffle assembly in the rapid air supply source coupling device shown in FIG. 7;

FIG. 9 is a perspective view of the fast gas supply docking apparatus shown in FIG. 1 in another state, in which the first and second baffle assemblies are docked;

fig. 10 is a partial schematic view of the fast air supply docking assembly shown in fig. 9.

Reference numerals: 100. a fast air supply source docking device; 20. a first support member; 21. a first fixed block; 22. a first guide rail; 30. a first flow guide assembly; 31. a first substrate; 311. a first guide block; 32. a primary fluid; 321. a first guide surface; 322. a transition port; 323. a first through cavity; 324. a second through cavity; 325. a first nut member; 326. a first guide hole; 327. a second guide hole; 328. a convex ring part; 33. a flow control member; 331. aligning the trough; 332. a first seal member; 333. a first card slot; 334. a second seal member; 335. a second card slot; 336. a third seal member; 337. a third card slot; 34. a fifth elastic member; 40. a first reset assembly; 41. a first elastic member; 42. a second elastic member; 50. a second support member; 51. a second fixed block; 52. a second guide rail; 60. a second flow directing assembly; 61. a drainage tube; 611. a second guide surface; 612. an outer port; 62. a base; 621. a second substrate; 622. a second guide block; 623. a first seat body; 624. a first side surface; 63. a trigger; 64. an auxiliary baffle; 641. an inner rod portion; 642. an outer rod portion; 643. a second side surface; 644. a second nut member; 65. a limiting member; 66. butt joint; 70. a second reset assembly; 71. a third elastic member; 72. a fourth elastic member; 80. a docking drive assembly; 81. extending and moving the driving member; 82. a second seat body; 83. a third guide rail; 831. a guide bar; 832. and a linear bearing.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, as those skilled in the art will recognize without departing from the spirit and scope of the present invention.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature "under," "beneath," and "under" a second feature may be directly under or obliquely under the second feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may 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 may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

The technical scheme provided by the embodiment of the invention is described below by combining the accompanying drawings.

The invention provides a robot working system.

In some embodiments, the robotic work system is used to perform processing, analysis, or assembly of parts of a material, and the robotic work system may also be used to perform other uses, such as medical or research and development testing.

In some embodiments, the robotic work system is provided in a work place. The robot work system has a plurality of work stations provided in a work place. The robot working system includes a mobile robot that can move to different positions in a working place. In some embodiments, the mobile robot is capable of transporting the process object, and more particularly, the mobile robot includes an AGV cart.

In some embodiments, the mobile robot is capable of clamping, pushing, or lifting a processing object under air pressure. In one embodiment, the mobile robot comprises a mobility-assisted robot. Specifically, the second mobile robot has a pneumatic drive mechanism for performing operations such as gripping, pushing, or lifting. In one embodiment, the pneumatic drive mechanism comprises a jaw. Specifically, the work place is a space range where the robot work system needs to be applied. In one embodiment, the work application includes a workshop, hospital, laboratory, or other application requiring automation techniques to improve efficiency. Specifically, the processing object includes a material, a workpiece, a material, or a part. Specifically, the mobile robot can transfer the processing object to the work station or take it away from the work station. The mobile robot may perform corresponding processing operations on the processing objects placed on the work station, or the processing mechanism on the work station may perform corresponding processing operations on the processing objects placed on the mobile robot.

In some embodiments, a mobile robot includes a frame and drive wheels coupled to the frame. The driving wheel is arranged at the lower side of the frame to drive the frame to move. The pneumatic driving mechanism is connected to the frame.

In some embodiments, the robot operation system is provided with an air source device at the operation station, and the air source device provides a high-pressure air source or a negative-pressure air source for the operation robot through an air source passage. As shown in fig. 1, the robot operating system further includes a fast air supply docking device 100, and the fast air supply docking device 100 is used to form a part of an air supply passage between the air supply device at the operating station and the pneumatic driving mechanism on the mobile robot.

Referring to fig. 1 to 10, the present invention also provides a fast gas supply docking apparatus 100.

In some embodiments, as shown in fig. 1, 3 and 6, the fast gas supply docking device 100 includes: the first support member 20, the first diversion assembly 30, the first restoration assembly 40, the second support member 50, the second diversion assembly 60 and the second restoration assembly 70. The first flow directing assembly 30 is slidably coupled to the first support 20 along a first translational dimension. The first flow directing assembly 30 can be in a first orientation point relative to the first support 20 along the first translational dimension. The first guide assembly 30 is provided with a first guide surface 321. The first restoring member 40 is coupled to the first flow guide member 30 and applies a first restoring force to the first flow guide member 30. The first restoring force restores the first flow directing assembly 30 to the first orientation point when the first flow directing assembly 30 is offset from the first orientation point. The second flow directing assembly 60 is slidably coupled to the second support 50 along a second translational dimension. The second flow directing assembly 60 can be at a second location point relative to the second support 50 along the second translational dimension. The second deflector assembly 60 is provided with a second guide surface 611. The second restoring member 70 is coupled to the second flow directing member 60 and applies a second restoring force to the second flow directing member 60. When the second airflow guiding assembly 60 deviates from the second positioning point, the second restoring force restores the second airflow guiding assembly 60 to the second positioning point. When the second guide assembly 60 is initially abutted against the first guide assembly 30, the second guide surface 611 abuts against the first guide surface 321 to form an alignment acting force. The misalignment between the first flow guide assembly 30 and the second flow guide assembly 60 in the first translational dimension or the second translational dimension is eliminated by the action of the aligning force.

Specifically, as shown in connection with fig. 1, in the preliminary docking, the second support member 50 moves close to the first support member 20 along the main path, and at the same time, the first flow guiding assembly 30 and the second flow guiding assembly 60 are close to each other. When the first guide assembly 30 and the second guide assembly 60 contact with each other through the first guide surface 321 and the second guide surface 611, the second guide assembly 60 and the first guide assembly 30 are in a preliminary abutting state. The second guiding surface 611 and the first guiding surface 321 form an alignment acting force by abutting, the alignment acting force enables the first flow guiding assembly 30 to overcome the first restoring acting force to leave the first positioning point along the first translation dimension, and the first flow guiding assembly 30 moves to the position corresponding to the second flow guiding assembly 60 along the first translation dimension. Meanwhile, the alignment action force causes the second diversion assembly 60 to overcome the second reset action force and leave the second positioning point along the second translation dimension, and the second diversion assembly 60 moves to the position corresponding to the first diversion assembly 30 along the second translation dimension. Therefore, on the plane perpendicular to the relative movement direction between the first support 20 and the second support 50, the alignment acting force eliminates the position deviation between the first guide assembly 30 and the second guide assembly 60, i.e. the butting deviation, so that the positions of the first guide assembly 30 and the second guide assembly 60 are adapted to each other, and the problem that the butting cannot be accurately performed due to the position deviation in different directions on the plane is avoided. Specifically, as shown in fig. 1 and 9, the first translation dimension is translated to arrow F1, and the second translation dimension is parallel to arrow F2.

Specifically, the first guide surface 321 and the second guide surface 611 are adapted to each other between the first guide component 30 and the second guide component 60, so that a relatively strong collision between the first guide component 30 and the second guide component 60 can be avoided, the fast air supply docking device 100 is prevented from being damaged, and the loss of the robot operating system is reduced.

Further, after the first diversion assembly 30 and the second diversion assembly 60 are undocked, the first diversion assembly 30 is restored to the first positioning point under the first restoring acting force, and the second diversion assembly 60 is restored to the second positioning point under the second restoring acting force, so that the first diversion assembly 30 can continuously adapt to the position of another second diversion assembly 60, or the second diversion assembly 60 can continuously adapt to the position of another first diversion assembly 30, which is beneficial to automatically completing accurate docking between the first diversion assembly 30 and the second diversion assembly 60.

In one embodiment, the first support 20 is disposed at a work station. Furthermore, a first supporting member 20, a first diversion assembly 30 and a first resetting assembly 40 are correspondingly arranged at any operation station. The second support 50 is connected to the mobile robot. Specifically, the first flow directing assembly 30 acts as a fixed port and the second flow directing assembly 60 acts as a moving port. Specifically, when the mobile robot moves to the vicinity of the work station, the docking of the first deflector assembly 30 with the second deflector assembly 60 is initiated.

Specifically, the preliminary docking may be understood as a process prior to the incomplete sealing engagement between the second flow directing assembly 60 and the first flow directing assembly 30. Under an ideal situation, before the second diversion assembly 60 contacts the first diversion assembly 30, the first positioning point and the second positioning point are located on a straight line of the main path at the same time, that is, no butting deviation exists between the first diversion assembly 30 and the second diversion assembly 60 in the first translation dimension or the second translation dimension. In one embodiment, ideally, the first guide surface 321 and the second guide surface 611 do not contact or abut during the preliminary docking process, that is, the docking deviation between the first flow guide assembly 30 and the second flow guide assembly 60 is eliminated by using the aligning force generated between the first guide surface 321 and the second guide surface 611. Specifically, the docking offset includes a positional offset of the first flow directing assembly 30 and the second flow directing assembly 60 in a first translational dimension, and the docking offset also includes a positional offset of the first flow directing assembly 30 and the second flow directing assembly 60 in a second translational dimension.

Specifically, as shown in fig. 1, the included angle between the first translation dimension and the second translation dimension is greater than zero. In one embodiment, the direction of the first translation dimension is vertically disposed and the direction of the second translation dimension is horizontally disposed. The length direction of the first support 20 is parallel to the vertical direction. In another embodiment, the direction of the second translation dimension is vertically arranged and the direction of the first translation dimension is horizontally arranged.

In some embodiments, as shown in fig. 1 and 2, the first support 20 is in the shape of a column. Further, the lower end of the first supporter 20 is fixedly connected to the bottom surface of the working station.

In some embodiments, as shown in fig. 3 and 4, the first flow guide assembly 30 is provided with a first through cavity 323, a first guide surface 321 is provided around a transition port 322 of the first through cavity 323, and an inner diameter of the first guide surface 321 decreases in a direction approaching the transition port 322. Specifically, the first flow guide assembly 30 interfaces the airflow with the second flow guide assembly 60 through the first through cavity 323. In one embodiment, the airflow entering the first flow directing assembly 30 enters the second flow directing assembly 60 through the first through cavity 323. As shown in fig. 10, a portion of the second guide member 60 where the second guide surface 611 is provided can be received in the first through-cavity 323. Since the first guide surface 321 is disposed around the first through cavity 323, when the portion of the second guide member 60 where the second guide surface 611 is disposed deviates in any direction with respect to the transition port 322 of the first through cavity 323, the first guide surface 321 can generate a holding effect on the second guide surface 611. The aligning force causes the second guide surface 611 to approach the transition port 322 in a first translational dimension or causes the second guide surface 611 to approach the transition port 322 in a second translational dimension, ultimately guiding the corresponding portion of the second flow directing assembly 60 through the transition port 322 into the first through cavity 323. When the corresponding part of the second flow guiding assembly 60 is accommodated in the first through cavity 323, due to the limiting effect of the inner wall of the first through cavity 323, the first positioning point and the second positioning point are simultaneously positioned in a straight line parallel to the main path, the second flow guiding assembly 60 and the first flow guiding assembly 30 are in a determined position relationship, and the butt joint between the second flow guiding assembly 60 and the first flow guiding assembly 30 is completed.

Specifically, as shown in fig. 4, for the direction in which the first guide surface 321 approaches the transition port 322, the direction is the same as the moving direction of the second guide assembly 60 when approaching the transition port 322. Since the inner diameter of the first guide surface 321 decreases in a direction approaching the transition port 322, a portion of the first guide surface 321 that contacts the second guide member 60 is on an inscribed circle having a smaller inner diameter as the second guide member 60 moves along the main path gradually closer to the first guide member 30, and thus, the first guide surface 321 can guide a portion of the second guide member 60, where the second guide surface 611 is provided, to approach the transition port 322 in a planar direction on a plane perpendicular to the main path. More specifically, since the inner diameter of the first guide surface 321 decreases in a direction approaching the transition port 322, when the second guide surface 611 abuts against the first guide surface 321, the abutting pressure of the first guide surface 321 against the second guide surface 611 has a component force directed to the transition port 322, which can be understood as an alignment force, so that the resistance of the first and

second reset assemblies

40 and 70 can be overcome, and the first and

second guide assemblies

30 and 60 are positionally adjusted to each other. In one embodiment, the first guide surface 321 is concavely curved and the transition port 322 is in the concave center of the first guide surface 321. In particular, with respect to the inner diameter of the first guide surface 321, it is understood the radius of the largest inscribed circle of the first guide surface 321 at any distance from the transition port 322 along the main path, the center of which is collinear with the center of the transition port 322 in a plane projection perpendicular to the main path. In other embodiments, the first guide surface 321 can be disposed at other positions of the first flow guide assembly 30 independent of the transition port 322 of the first through cavity 323.

In some embodiments, as shown in fig. 2 to 4, the first diversion assembly 30 includes a main fluid 32 and a flow control member 33 slidably connected to the main fluid 32. The main fluid 32 is provided with a first through cavity 323 and a second through cavity 324. The flow control member 33 is movable relative to the main fluid 32 to a through-flow or shut-off position. When flow control member 33 is in the flow-through position, first through cavity 323 is in communication with second through cavity 324. When flow control member 33 is in the flow blocking position, flow control member 33 forms a partition between first through cavity 323 and second through cavity 324.

Specifically, by moving the flow control member 33 relative to the primary fluid 32, as shown in connection with FIG. 10, when the flow control member 33 is in the flow-passing position, the first and second through

cavities

323, 324 can be in the flow-passing state, creating a passage for the flow of gas in the first flow guide assembly 30, which can flow from the first flow guide assembly 30 to the second flow guide assembly 60, or which can flow from the second flow guide assembly 60 to the first flow guide assembly 30. In one embodiment, as shown in fig. 10, the first through cavity 323 is used for interfacing with the second flow guide assembly 60, the second through cavity 324 is used for interfacing with the gas source device, and the gas flow can sequentially flow through the gas source device, the second through cavity 324, the first through cavity 323, the second flow guide assembly 60 and the pneumatic driving mechanism. The pneumatic driving mechanism acts under the driving of the air flow pressure. When the flow control member 33 is at the flow cutoff position, the flow control member 33 separates the first through cavity 323 and the second through cavity 324, so as to cut off the path originally formed for the airflow in the first flow guide assembly 30, thereby realizing on-off control of the airflow.

In some embodiments, as shown in conjunction with fig. 2 and 4, the primary fluid 32 is substantially rod-shaped. Flow control member 33 is slidably disposed relative to primary fluid 32 along a third translational dimension. Further, the length direction of the dominant fluid 32 is parallel to the third translation dimension. More specifically, the straight line of the main path is parallel to the third translation dimension. Specifically, as shown in connection with fig. 1, the third translation dimension is parallel to the arrow F3, and the positive direction of the third translation dimension is the same direction as the arrow F3.

In one embodiment, as shown in conjunction with FIG. 4, first through cavity 323 and second through cavity 324 run along a line, which is further parallel to the third translation dimension.

In one embodiment, as shown in connection with FIG. 4, the primary fluid 32 is provided with a first conduit 326 in communication with the first through cavity 323, the primary fluid 32 is further provided with a second conduit 327 in communication with the second through cavity 324, and the first conduit 326 and the second conduit 327 are spaced apart in a third translational dimension. In some embodiments, the side of the flow control member 33 facing the main fluid 32 is provided with a convection groove 331, and when the flow control member 33 is in the through-flow position, the convection groove 331 is aligned with the first guide hole 326 and the second guide hole 327, so that the first through cavity 323 is communicated with the second through cavity 324. When the flow control member 33 is in the flow interrupting station, at least one of the first guide hole 326 and the second guide hole 327 is misaligned with the convection slot 331. In one embodiment, when flow control member 33 is in the flow-passing station, in the third translation dimension, neither first guide hole 326 nor second guide hole 327 overlap convection slot 331, such that communication between first guide hole 326 and second guide hole 327 through convection slot 331 is prevented.

In one embodiment, the extending direction of the first via 326 is perpendicular to the third translation dimension. The extending direction of the second via 327 is perpendicular to the third translation dimension. Further, the first guide hole 326 is plural, and the plural first guide holes 326 are distributed along the circumferential direction of the main fluid 32. Further, the second guide hole 327 is plural, and the plural second guide holes 327 are distributed along the circumferential direction of the main fluid 32. In one embodiment, as shown in fig. 4 and 10, the convection groove 331 is circumferentially disposed around the main fluid 32 so as to simultaneously interface with the plurality of first and second guide holes 326 and 327. More specifically, in the third translational dimension, the width of the convection slot 331 is greater than the distance between the first and second guide holes 326, 327, thereby enabling communication between the first and second guide holes 326, 327 during the flow-passing station.

In some embodiments, flow control member 33 is circumferentially disposed about primary fluid 32. More specifically, as shown in fig. 2 and 4, the flow control member 33 is disposed in a cylindrical shape. In one embodiment, as shown in fig. 4, a first seal 332 is connected to flow control member 33, and when flow control member 33 is in the flow interrupting position, first seal 332 is between all first guide holes 326 and all second guide holes 327 along the third translation dimension, and first seal 332 abuts against the outside of primary fluid 32 and the inside of flow control member 33, respectively, thereby providing isolation between first guide holes 326 and second guide holes 327. Further, as shown in fig. 4, a first locking groove 333 is formed inside the flow control member 33, the first sealing member 332 is received in the first locking groove 333, and the first sealing member 332 moves with the flow control member 33 relative to the main fluid 32 under the limitation of the first locking groove 333.

Further, as shown in connection with fig. 4, a second seal 334 is connected to the flow control member 33, and the docking slot is between the first seal 332 and the second seal 334 along a third translational dimension. The second sealing element 334 is disposed between the main fluid 32 and the flow control element 33, and when the flow control element 33 is in the flow-passing position, the first guide hole 326 and the second guide hole 327 are disposed between the first sealing element 332 and the second sealing element 334 along the third translation dimension, so as to prevent the air flow from leaking out in the flow-passing state. Further, as shown in fig. 4, a second clamping groove 335 is formed inside the flow control member 33, the second sealing element 334 is received in the second clamping groove 335, and the second sealing element 334 moves with the flow control member 33 relative to the main fluid 32 under the limitation of the second clamping groove 335.

Further, as shown in fig. 4, the flow control member 33 is connected with a third sealing member 336, and the third sealing member 336 is supported between the main fluid 32 and the flow control member 33. When the flow control member 33 is in the flow interrupting position, the first guide hole 326 is between the first seal 332 and the second seal 334, and the second guide hole 327 is between the first seal 332 and the third seal 336, thereby preventing the air flow from leaking out in the flow interrupting state. Further, a third locking groove 337 is formed inside the flow control member 33, and a third sealing member 336 is received in the third locking groove 337, and the third sealing member 336 moves with the flow control member 33 relative to the main fluid 32 under the limitation of the third locking groove 337.

Specifically, the first seal 332, the second seal 334, or the third seal 336 are annular. More specifically, the first seal 332, the second seal 334, or the third seal 336 are seal rings.

In other embodiments, the flow control member 33 may replace the first seal 332, the second seal 334, or the third seal 336 with a portion thereof to seal against the outside of the primary fluid 32.

In other embodiments, flow control member 33 may be rotatably disposed relative to main fluid 32, and flow control member 33 may be switched between the flow-through or shut-off stations by rotating relative to main fluid 32.

In some embodiments, as shown in fig. 3, the first restoring element 40 includes a first elastic element 41 and a second elastic element 42, the first elastic element 41 generates a first elastic force on the first flow guide element 30, and the second elastic element 42 generates a second elastic force on the first flow guide element 30, the second elastic force being opposite to the first elastic force. When the first guide assembly 30 is at the first positioning point, the first elastic force and the second elastic force are the same in magnitude. Specifically, the first elastic element 41 and the second elastic element 42 are in a deformed state, and thus have a first elastic force and a second elastic force, respectively. When the first flow guiding assembly 30 is located at the first positioning point relative to the first supporting member 20, the first flow guiding assembly 30 is in a balanced stressed state because the first elastic acting force and the second elastic acting force are consistent in magnitude and are not affected by the aligning acting force, so that the first flow guiding assembly 30 can be stabilized at the first positioning point along the first translation dimension.

Specifically, when the second flow guiding device 60 generates an alignment acting force on the first flow guiding device 30, and the angle between the alignment acting force and the first translation dimension is small, the alignment acting force breaks the original stress balance of the first flow guiding device 30, so that the first flow guiding device 30 moves along the first translation dimension, and meanwhile, the position deviation between the first positioning point and the second positioning point in the first translation dimension is reduced. Further, as the first guide assembly 30 moves away from the first fixed point along the first translational dimension, the amount of deformation of one of the first elastic member 41 and the second elastic member 42 increases and the amount of deformation of the other decreases, and the difference between the first elastic force and the second elastic force forms a first restoring force. Further, after the first diversion assembly 30 and the second diversion assembly 60 are disconnected from each other, the first restoring force restores the first diversion assembly 30 to the first positioning point for the next connection between the first diversion assembly 30 and any one of the second diversion assemblies 60.

In one embodiment, as shown in fig. 3, the first supporting member 20 is connected to the first fixing block 21, the first elastic member 41 is connected to one side of the first air guiding assembly 30 and the first fixing block 21, and the second elastic member 42 is connected to the other side of the first air guiding assembly 30 and the first fixing block 21. Further, as shown in fig. 2 and 3, the first guide assembly 30 includes a first base plate 31 slidably connected to the first support member 20, and the first base plate 31 is connected to the first guide block 311. The first fixing block 21 is located between the two first guide blocks 311, the first elastic element 41 abuts against between one of the first guide blocks 311 and the first fixing block 21, and the second elastic element 42 abuts against between the other one of the first guide blocks 311 and the first fixing block 21. More specifically, referring to fig. 2, the fast gas supply docking device 100 further includes a first guide rail 22, and the first guide rail 22 is connected between the first base plate 31 and the first support 20 to assist the first flow guide assembly 30 to slide relative to the first support 20. In one embodiment, the first elastic member 41 and the second elastic member 42 are compression springs.

Specifically, the dominant fluid 32 is connected to the first substrate 31. Further, as shown in fig. 4, an end of the main fluid 32 opposite to the second fluid guiding assembly 60 is disposed through the first substrate 31 and connected to the first nut 325, and a portion of the main fluid 32 and the first nut 325 are fixed to the first substrate 31 by abutting against the two sides of the first substrate 31.

In some embodiments, as shown in conjunction with fig. 6-8, the second flow directing assembly 60 has a draft tube 61, a second guide surface 611 is provided to the draft tube 61 and the second guide surface 611 is provided around an outer port 612 of the draft tube 61, the outer diameter of the second guide surface 611 decreasing in a direction approaching the outer port 612. Specifically, the draft tube 61 is disposed in a hollow to circulate the air flow, and the second flow guide assembly 60 is coupled to the first flow guide assembly 30 through the draft tube 61. The draft tube 61 penetrates into the first guide assembly 30 by the first guide surface 321, and thereafter, the first guide assembly 30 limits the outer wall of the draft tube 61, so that the second guide assembly 60 and the first guide assembly 30 are in a certain positional relationship, and the docking between the second guide assembly 60 and the first guide assembly 30 is completed.

Specifically, the second guide surface 611 is oriented in a direction adjacent the outer port 612 that is co-directional with the direction in which the second flow directing assembly 60 moves adjacent the first flow directing assembly 30 during docking. Since the outer diameter of the second guide surface 611 decreases in the direction approaching the outer port 612, when the second guide surface 611 abuts against the first guide surface 321, the alignment force applied by the first guide surface 321 to the second guide surface 611 has a component force directed to the transition port 322, so that the first guide assembly 30 and the second guide assembly 60 are positionally adjusted to each other. In one embodiment, the shape of the second guide surface 611 approximates or conforms to the shape of the side surface of the circular truncated cone. In particular, with respect to the outer diameter of the second guide surface 611, it is understood the radius of the smallest circumscribed circle of the second guide surface 611 at any distance from the outer port 612 along the main path, the center of which is collinear with the center of the outer port 612 in a planar projection perpendicular to the main path. In other embodiments, the second guide surface 611 surrounds the outer port 612, which can also be located elsewhere in the second baffle assembly 60, independent of the draft tube 61.

In one embodiment, the draft tube 61 is adapted to penetrate the first through cavity 323, and the outer diameter of the draft tube 61 is close to or identical to the inner diameter of the first through cavity 323, so that the relative position between the first flow guide assembly 30 and the second flow guide assembly 60 can be stably maintained after the draft tube 61 is nested and matched with the first through cavity 323.

In one embodiment, as shown in fig. 6 and 10, the first flow guide assembly 30 is provided with a first through cavity 323, a first guide surface 321 is disposed around the first through cavity 323, an inner diameter of the first guide surface 321 decreases in a direction close to the transition port 322, meanwhile, the second flow guide assembly 60 is provided with a draft tube 61, a second guide surface 611 is disposed at the draft tube 61 and the second guide surface 611 is disposed around the outer port 612 of the draft tube 61, and an outer diameter of the second guide surface 611 decreases in a direction close to the outer port 612, so that a larger contact area between the first guide surface 321 and the second guide surface 611 can be obtained, pressure of the draft tube 61 contacting the first guide surface 321 is reduced, and abrasion is reduced.

In some embodiments, as shown in fig. 6 and 7, the second flow guiding assembly 60 includes a base 62 slidably connected to the second support 50, a secondary flow guiding body 64 disposed through the base 62, and a limiting member 65 connected to the base 62. A gap is formed between the secondary current carrier 64 and the base 62. The plurality of limiting members 65 elastically abut against the secondary baffle 64 from a plurality of angles along the first circumferential direction.

Specifically, the auxiliary baffle 64 penetrates through the base 62 in a direction parallel to the third translation dimension, and a gap is formed between the auxiliary baffle 64 and the base 62, so that the auxiliary baffle 64 has a moving space relative to the base 62 in the first translation dimension or the second translation dimension, which is beneficial to the hollow auxiliary baffle 64 and the first baffle assembly 30 to form a butt joint. More specifically, secondary flow conductor 64 is used to interface with primary flow 32 to pass the airflow. Further, as shown in fig. 10, a draft tube 61 is connected to one end of the secondary baffle 64 near the first baffle assembly 30. Further, by providing a gap between secondary baffle 64 and base 62, the angle of secondary baffle 64 relative to the third translational dimension can be varied to facilitate accommodating angular differences between secondary baffle 64 and first baffle assembly 30. Further, the secondary guide body 64 can rotate relative to the base 62 along the first circumferential direction due to the abutting fit relationship between the secondary guide body 64 and the limiting member 65.

Specifically, the first circumferential direction is a direction surrounding the secondary baffle 64, the limiting member 65 generates elastic limiting forces on the secondary baffle 64 from different angles, and when a resultant force of the elastic limiting forces on the secondary baffle 64 is close to zero, the secondary baffle 64 is in a stable position with respect to the base 62.

Further, by controlling the elastic coefficient of the limiting member 65 or adjusting the minimum acting force of the limiting member 65 in a single direction, the limiting member 65 can move earlier than the first restoring member 40 or the second restoring member 70, so that the movement of the secondary guide body 64 relative to the base 62 is more flexible. More specifically, the limiting member 65 includes an elastic plunger, the limiting member 65 is in threaded connection with the base 62, and the retractable end of the limiting member 65 abuts against the outer side of the secondary guide body 64.

In some embodiments, as shown in fig. 8, the secondary baffle 64 includes an inner rod portion 641 penetrating the base 62 and an outer rod portion 642 connected to the inner rod portion 641. Specifically, the limiting member 65 abuts against the inner rod 641. The draft tube 61 and the trigger 63 are connected to the outer rod portion 642. In one embodiment, the airflow passes through the draft tube 61, the outer rod portion 642 and the inner rod portion 641 in sequence. In one embodiment, the end of the inner rod portion 641 remote from the outer rod portion 642 is connected to a pneumatic drive mechanism by a docking head 66.

In one embodiment, as shown in connection with fig. 8, the base 62 has a first side 624 facing the outer rod portion 642, the first side 624 being a convex arc. When the outer rod portion 642 moves relative to the base 62, friction or resistance generated by the first side surface 624 to the outer rod portion 642 can be reduced, so that fluency of the secondary baffle 64 moving relative to the base 62 along the first translation dimension or the second translation dimension can be improved. More specifically, the convex curved surface may be a portion of a spherical surface. A convex arc surface can also be understood as an outer shape contour of a circular arc.

In one embodiment, as shown in connection with fig. 8, the outer rod portion 642 has a second side 643 facing the base 62, the second side 643 being convexly curved. The friction or resistance of the second side 643 to the base 62 can be reduced when the outer rod portion 642 moves relative to the base 62.

In one embodiment, the first side surface 624 and the second side surface 643 are convex arc surfaces.

Further, as shown in fig. 8, an end of the inner rod portion 641 distant from the outer rod portion 642 is connected to a second nut member 644, and the second nut member 644 and the outer rod portion 642 are respectively located at two sides of the base 62, so that the inner rod portion 641 can be limited in the base 62.

In some embodiments, as shown in fig. 6 and 7, the second restoring element 70 includes a third elastic element 71 and a fourth elastic element 72, the third elastic element 71 generates a third elastic force on the second flow guide element 60, and the fourth elastic element 72 generates a fourth elastic force on the second flow guide element 60, where the fourth elastic force is opposite to the third elastic force. When the second diversion assembly 60 is at the second positioning point, the third elastic acting force and the fourth elastic acting force have the same magnitude. Specifically, the third elastic element 71 and the fourth elastic element 72 are in a deformed state, and thus have a third elastic acting force and a fourth elastic acting force, respectively. When the second flow guiding element 60 is located at the second location point relative to the second supporting element 50, since the third elastic acting force and the fourth elastic acting force have the same magnitude and are not affected by the alignment acting force, the second flow guiding element 60 is located in a balanced stressed state, and thus the second flow guiding element 60 can be stabilized at the second location point along the second translation dimension.

Specifically, when the first diversion assembly 30 generates an alignment acting force on the second diversion assembly 60, and the angle between the alignment acting force and the second translation dimension is small, the alignment acting force breaks the original force balance of the second diversion assembly 60, so that the second diversion assembly 60 moves along the second translation dimension, and meanwhile, the position deviation of the first positioning point and the second positioning point on the second translation dimension is reduced. Further, when the second diversion assembly 60 leaves the second positioning point along the second translation dimension, the deformation amount of one of the third elastic element 71 and the fourth elastic element 72 is increased, the deformation amount of the other one is decreased, and the difference between the third elastic acting force and the fourth elastic acting force forms a second restoring acting force. Further, after the docking between the second flow guiding assembly 60 and the first flow guiding assembly 30 is released, the resultant force of the fourth elastic acting force and the third elastic acting force resets the second flow guiding assembly 60 to the second positioning point, so that the second flow guiding assembly 60 is ready to be docked with any one of the first flow guiding assemblies 30 next time.

In one embodiment, as shown in fig. 6 and 7, the second supporting member 50 has at least two second fixing blocks 51, and at least a portion of the second guide assembly 60 is located between the two second fixing blocks 51. The third elastic member 71 is connected to one side of one of the second fixing blocks 51 and the second guide assembly 60, and the fourth elastic member 72 is connected to the other side of the other one of the second fixing blocks 51 and the second guide assembly 60. Further, as shown in fig. 6 and 7, the base 62 includes a first seat 623 slidably connected to the second support 50, the third elastic element 71 abuts between the first seat 623 and one of the second fixed blocks 51, and the fourth elastic element 72 abuts between the first seat 623 and the other of the second fixed blocks 51. More specifically, the inner rod 641 is disposed through the first seat 623, and the limiting member 65 is disposed through the first seat 623 in a threaded manner. More specifically, the first holder 623 includes a second base plate 621 slidably connected to the second support 50 and a second guide block 622 connected to the second base plate 621. The first seat 623 is slidably connected to the second support 50 through the second substrate 621. The second guide block 622 is used for abutting against the third elastic member 71 or the fourth elastic member 72. More specifically, the fast air supply docking device 100 further includes a second guide rail 52, and the second guide rail 52 is connected between the second base plate 621 and the second support 50 to assist the relative sliding between the second guide assembly 60 and the second support 50. In one embodiment, the third elastic member 71 and the fourth elastic member 72 are compression springs.

In some embodiments, as shown in fig. 5 and 9, the fast gas supply docking device 100 further includes a docking driving assembly 80, and the docking driving assembly 80 is configured to drive the first flow-guiding assembly 30 and the second flow-guiding assembly 60 to move relatively along the third translation dimension. Referring to fig. 1 and 2, the first flow guiding assembly 30 further includes a fifth elastic member 34 connected to the flow controlling member 33. The second guide assembly 60 has a trigger 63. The trigger member 63 and the fifth elastic member 34 can generate opposite forces on the flow control member 33, respectively.

Specifically, when the preliminary docking is required, the docking driving assembly 80 drives the first flow guiding assembly 30 and the second flow guiding assembly 60 to move relatively close to each other, so that the first flow guiding assembly 30 and the second flow guiding assembly 60 are docked with each other. The flow control member 33 is slidably disposed along the third translation dimension relative to the main fluid 32 between the flow passing position and the flow interrupting position, and before the trigger member 63 contacts the flow control member 33, the fifth elastic force makes the flow control member 33 move to the flow interrupting position due to the fifth elastic force generated by the fifth elastic member 34 on the flow control member 33. When the trigger 63 moves into contact with the flow control member 33, the force exerted by the trigger 63 on the flow control member 33 is opposite to the fifth elastic force, allowing the flow control member 33 to move toward the flow-passing station against the fifth elastic force. Therefore, the docking driving assembly 80 can provide power for the relative movement between the first flow guide assembly 30 and the second flow guide assembly 60, and can drive the on-off state switching of the air flow of the first flow guide assembly 30. More specifically, after the initial docking of the first and second

flow guide assemblies

30, 60 is completed, the flow control member 33 has been moved from the flow stop station to the flow through station. When the docking driving assembly 80 drives the first diversion assembly 30 to move away from the second diversion assembly 60, the triggering member 63 moves away from the flow control member 33, and the flow control member 33 returns to the flow cutting station again under the fifth elastic acting force.

Specifically, as shown in fig. 4, the main fluid 32 has a convex ring portion 328, and before the trigger 63 contacts the flow control member 33, the flow control member 33 is pressed between the fifth elastic member 34 and the convex ring portion 328, so that the flow control member 33 is maintained at the flow-interrupting station. Further, the first guide surface 321 is disposed on a side of the convex ring portion 328 away from the second through cavity 324. Specifically, the trigger 63 includes a main portion having a cylindrical or annular shape, and the main portion is disposed around the drain tube 61. The outer diameter of the end of the flow control member 33, the inner diameter of the main portion of the trigger member 63, and the outer diameter of the convex ring portion 328 are sequentially decreased progressively, so that the trigger member 63 is sleeved outside the convex ring portion 328, and the trigger member 63 can continue to move to contact with the end of the flow control member 33 and push the flow control member 33 from the flow cutoff station to the flow passage station.

Specifically, the second flow directing assembly 60 moves in the positive direction of the third translation dimension as it approaches the first flow directing assembly 30. During the process of the second diversion assembly 60 interfacing with the first diversion assembly 30, the second guide surface 611 on the draft tube 61 contacts the first guide surface 321 on the main flow stream 32 at a first time point, and the trigger member 63 contacts the flow control member 33 at a second time point. The second guide surface 611 is provided at one end of the draft tube 61 near the positive direction of the third translational dimension. Further, for the end of the drain tube 61 near the positive third translational dimension direction, it is closer to the predominant fluid 32 than the end of the trigger 63 near the positive third translational dimension direction. Therefore, during the process that the second flow guide assembly 60 approaches the first flow guide assembly 30, the first time point is earlier than the second time piece, so that the initial butt joint is started earlier than the time when the flow stop station starts to switch to the flow passing station.

In some embodiments, docking drive assembly 80 is coupled to first support 20 or second support 50. In one embodiment, the docking drive assembly 80 is connected to the second support 50. Specifically, as shown in fig. 5, the docking driving assembly 80 includes a second seat 82 and an extending driving element 81. The second supporting member 50 is slidably connected to the second seat 82. The extending driving member 81 is connected between the second supporting member 50 and the second seat 82 to drive the second supporting member 50 to move relative to the second seat 82. And the second diversion assembly 60 moves away from or close to the first diversion assembly 30 under the action of the extending driving member 81. More specifically, the docking driving assembly 80 further includes a third guide rail 83, and the third guide rail 83 is connected between the second base 82 and the second supporting member 50, so that a sliding fit is formed between the second supporting member 50 and the second base 82. Further, the third guiding rail 83 includes a connecting guide rod 831 and a linear bearing 832, one of the guide rod 831 and the linear bearing 832 is connected to the second supporting member 50, and the other is connected to the second seat 82. More specifically, the extension drive 81 includes an electric cylinder. In one embodiment, the main body of the extension driving member 81 is fixed to the second seat 82, and the movable end thereof is connected to the second supporting member 50. Further, the second base 82 is directly or indirectly connected to the frame of the mobile robot.

In some embodiments, a robotic work system includes a first mobile robot and a second mobile robot. The first mobile robot is connected with a first supporting member 20, a first diversion assembly 30 and a first reset assembly 40. The second mobile robot is connected with a second supporting member 50, a second guide assembly 60 and a second reset assembly 70. The first mobile robot has an air supply device connected to the first deflector assembly 30. The second mobile robot has a pneumatic drive mechanism connected to the second air guide assembly 60. Specifically, the first flow guide assembly 30 and the second flow guide assembly 60 are respectively used as moving ports. The pneumatic driving mechanism of the first mobile robot provides air source to the second mobile robot through the second diversion assembly 60 and the first diversion assembly 30. Before the second diversion assembly 60 is docked with the first diversion assembly 30, the first mobile robot and the second mobile robot relatively move to a relatively close position.

All possible combinations of the technical features of the above embodiments may not be described for the sake of brevity, but should be considered as within the scope of the present disclosure as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A fast gas supply docking assembly, comprising:

the first support part is used for supporting the first support part,

a second support member;

the second reset assembly is connected with the second flow guide assembly and applies a second reset acting force to the second flow guide assembly; the second flow guide assembly is reset to the second positioning point under the action of the second resetting action force; the second guide surface is abutted against the first guide surface to form a positioning acting force; the butting deviation of the first flow guide assembly and the second flow guide assembly in the first translation dimension or the second translation dimension is eliminated under the action of the aligning action force.

2. The fast gas supply docking device of claim 1, wherein the first flow directing assembly defines a first through cavity, the first guide surface being disposed around a transition port of the first through cavity, the first guide surface having an inner diameter that decreases in a direction proximate the transition port; and/or the second flow directing assembly has a draft tube, the second guide surface is disposed at the draft tube and the second guide surface is disposed around an outer port of the draft tube, an outer diameter of the second guide surface decreases in a direction approaching the outer port.

3. The docking device as claimed in claim 1, wherein the first restoring element comprises a first resilient element and a second resilient element, the first resilient element generates a first resilient force on the first flow guide element, and the second resilient element generates a second resilient force on the first flow guide element in a direction opposite to the first resilient force; and/or the like, and/or,

4. The docking device as claimed in claim 1, wherein the first flow guide assembly comprises a main fluid and a flow control member slidably connected to the main fluid; the main guide fluid is provided with a first through cavity and a second through cavity; the flow control piece can move to a through-flow station or a flow cutoff station relative to the main fluid; when the flow control piece is positioned at the through-flow station, the first through cavity is communicated with the second through cavity; the flow control member forms an isolation between the first through cavity and the second through cavity when the flow control member is at the shut off station.

5. The fast gas supply docking device of claim 4, further comprising a docking actuator assembly configured to actuate the relative movement of the first flow guide assembly and the second flow guide assembly along a third translational dimension; the flow control piece is arranged in a sliding mode relative to the main guide fluid along the third translation dimension; the first flow guide assembly further comprises a fifth elastic element connected to the flow control element; the second flow guide assembly is provided with a trigger piece; the trigger piece and the fifth elastic piece can respectively generate opposite acting forces on the flow control piece.

6. The apparatus as claimed in claim 1, wherein the second flow guide assembly comprises a base slidably connected to the second support, a sub-flow guide penetrating the base, and a stopper connected to the base; a gap is formed between the auxiliary flow deflector and the base; the limiting parts elastically abut against the auxiliary flow guiding body from multiple angles along the first circumferential direction.

7. The docking device for a fast gas supply as claimed in claim 6, wherein the sub-current guiding body comprises an inner rod part penetrating the base and an outer rod part connected to the inner rod part; the base has a first side facing the outer rod portion; the outer rod part is provided with a second side surface facing the base; at least one of the first side surface and the second side surface is a convex cambered surface.

8. A robotic work system comprising a fast gas supply docking device as claimed in any one of claims 1 to 8.

9. A robotic work system as claimed in claim 8, wherein the robotic work system has a plurality of work stations; the operation station is correspondingly provided with the first supporting piece, the first flow guide assembly and the first reset assembly; the robot operating system includes a mobile robot; the second support is connected to the mobile robot.

10. The robotic work system as claimed in claim 8, comprising: a first mobile robot and a second mobile robot; the first mobile robot is connected with the first supporting piece, the first flow guide assembly and the first reset assembly; the first mobile robot is provided with an air source device connected to the first flow guide assembly; the second mobile robot is connected with the second support piece, the second flow guide assembly and the second reset assembly; the second mobile robot is provided with an air pressure driving mechanism connected with the second flow guide assembly.