CN203371553U - Robot docking device - Google Patents
Robot docking device Download PDFInfo
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- CN203371553U CN203371553U CN201320281228.3U CN201320281228U CN203371553U CN 203371553 U CN203371553 U CN 203371553U CN 201320281228 U CN201320281228 U CN 201320281228U CN 203371553 U CN203371553 U CN 203371553U
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- connector
- infrared
- base plate
- robot
- receiving tube
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Abstract
The utility model discloses a robot docking device. The robot docking device comprises a gear I, a plummer block, a pendulum bob, a pendulum bob support, an infrared correlation switch, a fixed base, an eyeball, a bearing support, an infrared receiving tube I, a Hall switch, a connector, an insulating layer II, an electrode I, an insulating layer II, an electrode II, a connector base, a connector pressing block, springs, a large-angle infrared transmitting tube, a small-angle infrared transmitting tube, an infrared baffle, an infrared receiving tube II, a bearing, a connecting hook, a connecting rod, a base, a gear II, a screw, a motor, a motor support and a base plate. The connector base, the connector pressing block, the springs, the large-angle infrared transmitting tube, the small-angle infrared transmitting tube and the connector are connected to the robot as a whole, and other parts are connected to the other robot as a whole. When docking is conducted on the two robots, distance control is achieved through an infrared signal and a magnetic field signal. The robot docking device has the advantages that the docking effective area is wide, the control distance of a guiding device is long, and energy can be transmitted after docking is completed.
Description
Technical field
The utility model relates to a kind of robot docking facilities.
Background technology
Two or more robots are combined into the robot of a movement by docking facilities, can improve mobile robot's landform adaptive capacity, the survival ability under complex environment.And a kind of flexible operation, the high docking mechanism of docking efficiency is to guarantee this robot foundation stone of docking smoothly.The form of robot docking at present has multiple, and as the mechanical paw docking mechanism, the shortcoming of its existence is that operation is controlled more complicated.The self adaptation butt-joint locking and the relieving mechanism that also have the Combined moving robot of Shanghai University's application, its existent defect is that effectively the docking zone is little, docking mechanism lacks guiding device, and can't carry out the transmission of energy after docking.
Summary of the invention
The purpose of this utility model is to provide a kind of robot docking facilities, and it is to solve docking between group robot and to discharge effective coverage little, and docking mechanism lacks guiding device, and problem that can't transmitting energy after docking.
The utility model is achieved like this, it comprises the gear I, rolling bearing units, pendulum, the pendulum support, the infrared emission switch, holder, buphthalmos, the support of bearing, the infrared receiving tube I, Hall switch, connector, the insulating barrier II, the electrode I, the insulating barrier I, the electrode II, jointing seat, the connector briquetting, spring, the wide-angle infrared transmitting tube, the low-angle infrared transmitting tube, infrared baffle plate, the infrared receiving tube II, bearing, butt hook, connecting rod, stand, the gear II, screw rod, motor, electric machine support and base plate, it is characterized in that motor is connected to a side of base plate by electric machine support, be connected with the gear I on the output shaft of motor, gear I and the gear II engagement that is connected to the screw rod left end, the screw rod left end is fixed on base plate by rolling bearing units, the screw rod right-hand member is connected with bearing, bearing is connected on base plate by the support of bearing, be connected with infrared receiving tube I and infrared receiving tube II on the support of bearing, be provided with infrared baffle plate between infrared receiving tube I and infrared receiving tube II, stand is connected to the screw rod middle part, the both sides of stand are the left end at butt hook by rod hinge connection respectively, the hook tail of butt hook fixes on holder by hinges fixing, holder is connected on base plate, butt hook is isolated with screw and is fixed together by insulated column in twos.Insulated column plays buffer action, strengthened the anti-deformation of butt hook, buphthalmos is fixed on lower floor's butt hook on the one side of base plate, make in the process of butt hook hinge through on holder under the push-and-pull of connecting rod more steady, buphthalmos is to roll to contact with base plate, the right-hand member of butt hook is connected with the insulating barrier I, insulating barrier I surface is provided with the electrode I, the electrode II just relative with the electrode I is connected to the left end of connector by the insulating barrier II, the connector left end is the T character form structure, the right-hand member of connector is cylindrical structural, the right-hand member of connector connects jointing seat, the jointing seat upper and lower all is connected with the connector briquetting, the connector briquetting that is positioned at jointing seat top is connected with wide-angle infrared transmitting tube and low-angle infrared transmitting tube, the two ends of spring are connected to jointing seat and connector middle part, the base plate be positioned under the connector left end is provided with Hall switch, the pendulum that is positioned at the stand left surface is connected on base plate by the pendulum support, be positioned on the base plate of stand below and also be connected with the infrared emission switch, described wide-angle infrared transmitting tube and low-angle infrared transmitting tube are over against infrared receiving tube I and infrared receiving tube II, the left end of described connector 11 is provided with 2 miniature strong magnets.
Technique effect of the present utility model is:
1, the butt hook opening angle is large, and the precision of infrared signal and field signal is high, has effectively improved the success rate of docking;
2. this device has improved the interference free performance of connector in complex environment.Make connector keep vertical relation with the long limit of jointing seat all the time.Guaranteed the reliability of docking;
3. built a desirable platform for the conveying of the electric energy between robot.What especially be applicable to long-time operation out of doors usings the group robot of solar energy as main energy sources.
The accompanying drawing explanation
Fig. 1 is structural representation of the present utility model.
Fig. 2 is connector structural representation of the present utility model.
In the drawings, 1, gear I 2, rolling bearing units 3, pendulum 4, pendulum support 5, infrared emission switch 6, holder 7, buphthalmos 8, the support of bearing 9, infrared receiving tube I 10, Hall switch 11, connector 12, insulating barrier II 13, electrode I 14, insulating barrier I 15, electrode II 16, jointing seat 17, connector briquetting 18, spring 19, wide-angle infrared transmitting tube 20, low-angle infrared transmitting tube 21, infrared baffle plate 22, infrared receiving tube II 23, bearing 24, butt hook 25, connecting rod 26, stand 27, gear II 28, screw rod 29, motor 30, electric machine support 31, base plate.
The specific embodiment
Embodiment mono-: as shown in Figure 1, the utility model is achieved like this, it comprises gear I 1, rolling bearing units 2, pendulum 3, pendulum support 4, infrared emission switch 5, holder 6, buphthalmos 7, the support of bearing 8, infrared receiving tube I 9, Hall switch 10, connector 11, insulating barrier II 12, electrode I 13, insulating barrier I 14, electrode II 15, jointing seat 16, connector briquetting 17, spring 18, wide-angle infrared transmitting tube 19, low-angle infrared transmitting tube 20, infrared baffle plate 21, infrared receiving tube II 22, bearing 23, butt hook 24, connecting rod 25, stand 26, gear II 27, screw rod 28, motor 29, electric machine support 30 and base plate 31, its design feature is that motor 29 is connected to a side of base plate 31 by electric machine support 30, be connected with gear I 1 on the output shaft of motor 29, gear I 1 and gear II 27 engagements that are connected to screw rod 28 left ends, screw rod 28 left ends are fixed on base plate 31 by rolling bearing units 2, screw rod 28 right-hand members are connected with bearing 23, bearing 23 is connected on base plate 31 by the support of bearing 8, be connected with infrared receiving tube I 9 and infrared receiving tube II 22 on the support of bearing 8, be provided with infrared baffle plate 21 between infrared receiving tube I 9 and infrared receiving tube II 22, stand 26 is connected to screw rod 28 middle parts, the both sides of stand 26 are hinged on respectively the left end of butt hook 24 by connecting rod 25, the hook tail of butt hook 24 fixes on holder 6 by hinges fixing.Holder 6 is connected on base plate 31.Butt hook 24 is isolated with screw and is fixed together by insulated column in twos.Insulated column plays buffer action, has strengthened the anti-deformation of butt hook 24.Buphthalmos 7 is fixed on lower floor's butt hook on the one side of base plate, makes in the process of butt hook 24 hinge through on holder under the push-and-pull of connecting rod 25 more steady.Buphthalmos 7 is to roll to contact with base plate 31.The right-hand member of butt hook 24 is connected with insulating barrier I 14, insulating barrier I 14 surfaces are provided with electrode I 13, the electrode II 15 just relative with electrode I 13 is connected to the left end of connector 11 by insulating barrier II 12, connector 11 left ends are the T character form structure, the right-hand member of connector 11 is cylindrical structural, the right-hand member of connector 11 connects jointing seat 16, jointing seat 16 upper and lowers all are connected with connector briquetting 17, the connector briquetting 17 that is positioned at jointing seat 16 tops is connected with wide-angle infrared transmitting tube 19 and low-angle infrared transmitting tube 20, the two ends of spring 18 are connected to jointing seat 16 and connector 11 middle parts, the base plate 31 be positioned under connector 11 left ends is provided with Hall switch 10, the pendulum 3 that is positioned at stand 26 left surfaces is connected on base plate 31 by pendulum support 4, be positioned on the base plate 31 of stand 26 belows and also be connected with infrared emission switch 5, described wide-angle infrared transmitting tube 19 and low-angle infrared transmitting tube 20 are over against infrared receiving tube I 9 and infrared receiving tube II 22, the left end of described connector 11 is provided with 2 miniature strong magnets.
Embodiment bis-: the course of work of the present utility model is such, and base plate 31 is arranged on to (No. 1 robot of called after temporarily) in a robot, and connector 11 is arranged on to (No. 2 robots of called after temporarily) in a robot.Before the docking of two robots, butt hook 24 is in open configuration.Stand 26 is in bearing block 8 one ends.By the pulse position modulation mode, the infrared launcher emission consisted of wide-angle infrared transmitting tube 19 and low-angle infrared transmitting tube 20 is the target emanation of spindle shape light beam, wide-angle infrared transmitting tube 19 angular ranges are between the 45-60 degree, beam length is greater than 3 meters, low-angle infrared transmitting tube 20 angles are in 15 degree left and right, and beam length is less than 2 meters.When the distance of No. 1 robot and No. 2 robots is greater than 3 meters, the infrared receiving tube I 9 of No. 1 robot and infrared receiving tube II 22 are accepted respectively the signal of the red transmitting tube of No. 2 robots.The signal value that control module receives according to two infrared receiving tubes obtains the big or small direction of advance of controlling No. 1 robot.If the center line of No. 1 robot and No. 2 robots does not face, due to the effect of infrared baffle plate 21 in No. 1 robot receiving device, the signal value difference that will make 2 receiving tubes accept.Now the control module of No. 1 robot sends instruction, orders No. 1 robot direction large to signal value to be walked.When 2 receiving tubes are transferred to the signal value of control module when equally large, No. 1 Robot center line of control module order is close to No. 2 robots.
The Hall switch 10 of installing in No. 1 robot can be experienced exist (the T-shaped end of connector 11 has embedded 2 miniature strong magnets) of No. 2 high-intensity magnetic fields in robot connector 11.If do not perceive, No. 1 robot keeps original speed to advance; If perceive, Hall switch 10 is by signal feedback to control module, and control module is controlled No. 1 robot and slowed down until stop.Now control module sends instruction, and motor 29 starts, and drives screw rod 28 and rotates, and screw rod drives stand 26 and moves to the direction near motor 29.Because holder 6 is fixed on base plate 31, stand 26 pulls butt hook 24 to rotate around holder 6 by connecting rod 25.Connect gib head all close to the screw rod center.When butt hook 24 fastens the T shape end of connector 11 fully, the lower limb of stand 26 just in time touches pendulum 3, and pendulum 3 rotates and triggers infrared emission switch 5 around pendulum support 4.And signal is passed to control module.29 stop motions immediately of control module order motor.Now connect the T shape end that hook 24 fastens connector 11.So far 2 robots have realized docking operation.
Embodiment tri-: in conjunction with Fig. 1, the present embodiment is described.When the present embodiment need to separate when 2 robots, the control module of No. 1 robot sends the signal of reversion to motor 29, motor 29 reversions drive the rotation of screw rod 28, and drives stand 26 to motion in the other direction, butt hook 24 rotates backward and opens, and two robots realize separating.
Embodiment tetra-: in conjunction with Fig. 2, the present embodiment is described.The right-hand member of the connector 11 of the present embodiment is cylindrical structural, can in jointing seat 16, swing, and the two ends of spring 18 in succession respectively jointing seat 16 and connector 11 middle parts.Improved the interference free performance of connector in complex environment.Make connector keep vertical relation with the long limit of jointing seat all the time.Guaranteed the reliability of docking.
Embodiment five: in conjunction with Fig. 1, the present embodiment is described.In the present embodiment, butt hook 24 is isolated with screw and is fixed together by insulated column in twos.Insulated column plays buffer action, has strengthened the anti-deformation of butt hook 24.Buphthalmos 7 is fixed on lower floor's butt hook on the one side of base plate.Buphthalmos 7 and base plate 31 are to roll to contact, and make in the process of butt hook 24 hinge through on holder 6 under the push-and-pull of connecting rod 25 more steady.
Embodiment six: in conjunction with Fig. 1, the present embodiment is described.The present embodiment finishes rear electrode I 13 at embodiment mono-and contacts with electrode II 15.A desirable platform has been built in the conveying that is the electric energy between No. 1 robot and No. 2 robots.What especially be applicable to long-time operation out of doors usings the group robot of solar energy as main energy sources.
Claims (3)
1. a robot docking facilities, it comprises the gear I, rolling bearing units, pendulum, the pendulum support, the infrared emission switch, holder, buphthalmos, the support of bearing, the infrared receiving tube I, Hall switch, connector, the insulating barrier II, the electrode I, the insulating barrier I, the electrode II, jointing seat, the connector briquetting, spring, the wide-angle infrared transmitting tube, the low-angle infrared transmitting tube, infrared baffle plate, the infrared receiving tube II, bearing, butt hook, connecting rod, stand, the gear II, screw rod, motor, electric machine support and base plate, it is characterized in that motor is connected to a side of base plate by electric machine support, be connected with the gear I on the output shaft of motor, gear I and the gear II engagement that is connected to the screw rod left end, the screw rod left end is fixed on base plate by rolling bearing units, the screw rod right-hand member is connected with bearing, bearing is connected on base plate by the support of bearing, be connected with infrared receiving tube I and infrared receiving tube II on the support of bearing, be provided with infrared baffle plate between infrared receiving tube I and infrared receiving tube II, stand is connected to the screw rod middle part, the both sides of stand are the left end at butt hook by rod hinge connection respectively, the hook tail of butt hook fixes on holder by hinges fixing, holder is connected on base plate, butt hook is isolated with screw and is fixed together by insulated column in twos, insulated column plays buffer action, strengthened the anti-deformation of butt hook, buphthalmos is fixed on lower floor's butt hook on the one side of base plate, make in the process of butt hook hinge through on holder under the push-and-pull of connecting rod more steady, buphthalmos is to roll to contact with base plate, the right-hand member of butt hook is connected with the insulating barrier I, insulating barrier I surface is provided with the electrode I, the electrode II just relative with the electrode I is connected to the left end of connector by the insulating barrier II, the connector left end is the T character form structure, the right-hand member of connector is cylindrical structural, the right-hand member of connector connects jointing seat, the jointing seat upper and lower all is connected with the connector briquetting, the connector briquetting that is positioned at jointing seat top is connected with wide-angle infrared transmitting tube and low-angle infrared transmitting tube, the two ends of spring are connected to jointing seat and connector middle part, the base plate be positioned under the connector left end is provided with Hall switch, the pendulum that is positioned at the stand left surface is connected on base plate by the pendulum support, be positioned on the base plate of stand below and also be connected with the infrared emission switch.
2. a kind of robot as claimed in claim 1 docking facilities, is characterized in that described wide-angle infrared transmitting tube and low-angle infrared transmitting tube are over against infrared receiving tube I and infrared receiving tube II.
3. a kind of robot as claimed in claim 1 docking facilities, is characterized in that the left end of described connector 11 is provided with 2 miniature strong magnets.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320281228.3U CN203371553U (en) | 2013-05-22 | 2013-05-22 | Robot docking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320281228.3U CN203371553U (en) | 2013-05-22 | 2013-05-22 | Robot docking device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203371553U true CN203371553U (en) | 2014-01-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320281228.3U Expired - Fee Related CN203371553U (en) | 2013-05-22 | 2013-05-22 | Robot docking device |
Country Status (1)
| Country | Link |
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| CN (1) | CN203371553U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103286789A (en) * | 2013-05-22 | 2013-09-11 | 南昌航空大学 | Robot docking device |
| CN105867409A (en) * | 2016-03-30 | 2016-08-17 | 深圳市高巨创新科技开发有限公司 | Unmanned aerial vehicle air docking method and system |
| CN107719706A (en) * | 2017-10-21 | 2018-02-23 | 长沙展朔轩兴信息科技有限公司 | A kind of docking facilities of robot for space |
| CN109173125A (en) * | 2018-09-29 | 2019-01-11 | 北京力升高科科技有限公司 | A kind of collaboration working method and system of fire-fighting robot |
| CN110509310A (en) * | 2019-09-03 | 2019-11-29 | 亿嘉和科技股份有限公司 | A kind of outdoor hot line robot |
-
2013
- 2013-05-22 CN CN201320281228.3U patent/CN203371553U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103286789A (en) * | 2013-05-22 | 2013-09-11 | 南昌航空大学 | Robot docking device |
| CN103286789B (en) * | 2013-05-22 | 2015-10-21 | 南昌航空大学 | A kind of robot docking facilities |
| CN105867409A (en) * | 2016-03-30 | 2016-08-17 | 深圳市高巨创新科技开发有限公司 | Unmanned aerial vehicle air docking method and system |
| CN107719706A (en) * | 2017-10-21 | 2018-02-23 | 长沙展朔轩兴信息科技有限公司 | A kind of docking facilities of robot for space |
| CN109173125A (en) * | 2018-09-29 | 2019-01-11 | 北京力升高科科技有限公司 | A kind of collaboration working method and system of fire-fighting robot |
| CN110509310A (en) * | 2019-09-03 | 2019-11-29 | 亿嘉和科技股份有限公司 | A kind of outdoor hot line robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140101 Termination date: 20140522 |