CN218398200U - Positioning and locking mechanism and robot - Google Patents

Abstract

The utility model relates to a location locking mechanism and robot. The positioning locking mechanism comprises a first locking component and a second locking component which are arranged along a first direction; the first locking assembly comprises a locking rod, a locking part and a mounting seat, the mounting seat is used for being connected to the station end, the locking rod can rotate relative to the mounting seat, the second locking assembly is used for being connected to the vehicle body and comprises a matching plate, and the matching plate is provided with a locking hole for the locking rod to be inserted; the positioning locking mechanism is provided with a locking state, the locking rod penetrates through the locking hole in the locking state, and the locking part is connected to one end, penetrating through the locking hole, of the locking rod and abuts against the matching plate to limit the second locking assembly to move. The locking lever can rotate relative to the mounting seat, so that the posture of the locking lever can be adjusted, the locking lever can accurately stretch into the locking hole, the second locking assembly is limited to move relative to the first locking assembly through the matching with the locking part, locking is achieved, the adjusting capacity of the mechanism is improved, and the locking difficulty is reduced.

Description

Positioning and locking mechanism and robot

Technical Field

The utility model relates to the technical field of robot, especially, relate to location locking mechanism and robot.

Background

With the rapid development of national industry, the requirement on the industrial automation degree is higher and higher, and meanwhile, the manufacturing industry is required to be continuously developed towards high precision and high efficiency. Therefore, the application and the demand of the industrial robot are more and more, and in order to reduce the production line cost and improve the robot utilization rate, the plug-and-play mobile composite robot trolley is more and more widely applied, but the existing positioning and locking mechanism has poor energy regulation capability and high locking difficulty, so that the requirements on the installation accuracy and the ground flatness of the robot trolley are high, and the processing cost of parts and the difficulty of positioning and locking are increased.

SUMMERY OF THE UTILITY MODEL

Therefore, the positioning and locking mechanism is needed to be poor in energy adjustment, so that the technical problems that the requirements on the installation precision and the ground flatness of a robot trolley are high, the processing cost of parts is increased, and the positioning and locking difficulty is increased are solved.

A positioning and locking mechanism is used for positioning and locking a vehicle body at a station end and comprises a first locking component and a second locking component which are arranged along a first direction;

the first locking assembly comprises a locking rod, a locking part and a mounting seat, the mounting seat is used for being connected to a station end, the locking rod can rotate relative to the mounting seat, the second locking assembly is used for being connected to a vehicle body, the second locking assembly comprises a matching plate, and the matching plate is provided with a locking hole for the locking rod to insert;

the positioning locking mechanism is provided with a locking state, the locking rod penetrates through the locking hole in the locking state, and the locking part is connected to one end, penetrating through the locking hole, of the locking rod and abuts against the matching plate to limit the second locking assembly to move relative to the first locking assembly.

In one embodiment, the first locking assembly further comprises a swing seat rotatably connected to the mounting seat about a second direction, and the locking lever is connected to the swing seat, wherein the second direction is perpendicular to the first direction;

at least one end of the swinging seat is provided with a first limiting part, and under the locking state, the first limiting part is used for fixing the swinging seat at different positions of the mounting seat around the second direction.

In one embodiment, the two ends of the swing seat along a third direction are respectively provided with the first limiting member, and one end of the first limiting member, which is far away from the swing seat, is used for abutting against the mounting seat, wherein the third direction is perpendicular to the second direction;

the length of the first limiting part between the swinging seat and the installation seat is adjustable, so that in a locking state, one end, away from the swinging seat, of the first limiting part abuts against the installation seat, and the swinging seat is limited to rotate around the second direction relative to the installation seat.

In one embodiment, the locking lever is rotatably connected to the swing seat about a third direction, wherein the third direction is perpendicular to the second direction.

In one embodiment, the second direction coincides with the vertical direction, an opening is formed in the hole wall of the locking hole, the opening is communicated with the edge of the matching plate, which is away from the vehicle body, and the opening is used for allowing the locking rod to extend into the locking hole.

In one embodiment, the swing seat includes a first seat body and two first connecting plates, the first seat body is rotatably connected to the mounting seat, the first limiting member is connected to the first seat body, the two first connecting plates are protrudingly disposed on a side of the first seat body away from the mounting seat and are spaced apart from each other along the third direction, and the locking lever is located between the two first connecting plates and is rotatably connected to the two first connecting plates along the third direction.

In one embodiment, the second locking assembly further comprises a fixed seat, the fixed seat is used for being connected to the end side of the vehicle body, and the matching plate is connected to the fixed seat in a rotating mode around the first direction;

at least one end of the matching plate is provided with a second limiting part, and the second limiting part is used for fixing the matching plate at different positions of the end face of the vehicle body in the first direction.

In one embodiment, two ends of the mating plate along a fourth direction are respectively provided with the second limiting members, and one end of the second limiting member away from the mating plate is used for abutting against the fixed seat, wherein the fourth direction is perpendicular to the first direction;

the length of the second limiting part between the matching plate and the fixed seat is adjustable, so that in a locking state, the end part of the second limiting part abuts against the fixed seat to limit the matching plate to rotate around the first direction relative to the fixed seat.

In one embodiment, the positioning and locking mechanism further comprises a positioning cavity arranged on the vehicle body and a guide post arranged on the mounting seat, and the guide post is used for being inserted into the positioning cavity to pre-position the vehicle body.

In one embodiment, the positioning and locking mechanism further comprises two guide plates, the two guide plates are arranged on the vehicle body at intervals, the positioning cavity is defined between the two guide plates, and one side of each guide plate, facing the corresponding guide column, is used for abutting against the station end so as to limit the vehicle body to move towards the station end.

The utility model also provides a robot can solve above-mentioned at least one technical problem.

The utility model provides a robot, includes automobile body and foretell location locking mechanism, first locking Assembly with the quantity of second locking Assembly is two, two the second locking Assembly set up respectively in the both ends of automobile body, the second locking Assembly be used for with correspond first locking Assembly cooperation, in order to incite somebody to action the automobile body location locking is in preset position.

Has the advantages that:

the utility model provides a positioning and locking mechanism, which comprises a first locking component and a second locking component which are arranged along a first direction; the first locking assembly comprises a locking rod, a locking part and a mounting seat, the mounting seat is used for being connected to the station end, the locking rod can rotate relative to the mounting seat, the second locking assembly is used for being connected to the vehicle body, the second locking assembly comprises a matching plate, and the matching plate is provided with a locking hole for the locking rod to be inserted into; the positioning locking mechanism is provided with a locking state, the locking rod penetrates through the locking hole in the locking state, and the locking part is connected to one end, penetrating through the locking hole, of the locking rod and abuts against the matching plate to limit the second locking assembly to move relative to the first locking assembly. This application passes through the check lock lever and can rotate relatively the mount pad to can adjust the gesture of check lock lever, when the automobile body drove second locking Assembly and moves towards first locking Assembly, the check lock lever can accurately stretch into the locking downthehole in the cooperation board, and through the cooperation with locking portion, restriction second locking Assembly removes for first locking Assembly, realizes locking, thereby has improved location locking mechanism's regulating power, has reduced the locking degree of difficulty.

The utility model also provides a robot, robot include automobile body and foretell location locking mechanism, and second locking subassembly is connected in the automobile body, and the quantity of first locking subassembly and second locking subassembly is a plurality of, and the quantity and the position of second locking subassembly all correspond with the quantity and the position of first locking subassembly, and first locking subassembly cooperates with the second locking subassembly that corresponds to fix a position the locking in presetting the position with the automobile body. The robot can achieve at least one of the technical effects described above.

Drawings

Fig. 1 is a schematic view of a positioning and locking mechanism and a robot and a cart matched with the positioning and locking mechanism according to an embodiment of the present invention;

FIG. 2 is an enlarged view taken at A in FIG. 1;

fig. 3 is a schematic view of a first locking component of the positioning and locking mechanism according to an embodiment of the present invention;

fig. 4 is a schematic view of a second locking assembly in the positioning and locking mechanism according to an embodiment of the present invention.

Reference numerals:

100-a first locking component; 110-a locking lever; 120-a locking portion; 130-a mount; 140-a swing seat; 141-a first seat body; 142-a first connection plate; 150 — a first stop; 160-a rotating member; 170-a first shaft; 180-a first ear plate; 200-a second locking assembly; 210-mating plates; 220-locking holes; 230-a fixed seat; 250-a second stop; 260-a second rotating shaft; 270-a second ear plate; 280-opening; 320-a positioning cavity; 330-guide post; 340-a guide plate; 350-anti-collision block; 360-a substrate; 370-a mounting plate; 400-a vehicle body; 500-a robotic arm.

Detailed Description

In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present 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 be able to make similar modifications 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 "center", "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 indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and for simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present 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 to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless explicitly defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, 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 meaning of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.

In the present application, unless expressly stated or limited otherwise, a first feature "on" or "under" a second feature may be directly contacting the second feature or the first and second features may be indirectly contacting the second feature through intervening media. 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.

With the rapid development of national industry, the requirement on the industrial automation degree is higher and higher, and meanwhile, the manufacturing industry is required to be continuously developed towards high precision and high efficiency. Therefore, the application and demand of industrial robots are increasing, and the application of plug-and-play mobile composite robot dollies is increasing in order to reduce the production line cost and improve the robot utilization rate. The existing mobile composite robot has more trolley positioning and locking modes, but has certain defects in general: the requirement on the ground flatness of the layout of a production line is high, and the positioning and locking functions of the composite robot can not be completed due to the incompatibility of uneven ground; some composite robot trolley positioning and locking mechanisms are arranged below a trolley bottom plate and need to damage the ground, and corresponding mechanisms are arranged on the ground, so that the ground is damaged, the subsequent use is influenced, and the maintenance cost is increased; the positioning and locking mechanism does not have an adjusting function, has high requirement on installation precision, improves the processing cost of parts, increases the difficulty of positioning and locking, and is inconvenient to operate.

Based on the above problems, the inventor provides a positioning and locking mechanism for positioning and locking the vehicle body 400 at a preset position on a production line, which can effectively overcome the unevenness of the ground and has a function of adjusting with a certain deviation.

Referring to fig. 1 and fig. 2, fig. 1 is a schematic view of a positioning locking mechanism, a robot and a cart matched with the positioning locking mechanism according to an embodiment of the present invention; fig. 2 is an enlarged view of a point a in fig. 1. The positioning and locking mechanism provided by the embodiment of the utility model comprises a first locking component 100 and a second locking component 200 which are arranged along a first direction; the first locking assembly 100 comprises a locking rod 110, a locking part 120 and a mounting seat 130, the mounting seat 130 is used for connecting to a station end, the locking rod 110 can rotate relative to the mounting seat 130, the second locking assembly 200 is used for connecting to a vehicle body 400, the second locking assembly 200 comprises a matching plate 210, and the matching plate 210 is provided with a locking hole 220 for inserting the locking rod 110; the positioning and locking mechanism has a locking state, in which the locking rod 110 is inserted into the locking hole 220, and the locking portion 120 is connected to one end of the locking rod 110 inserted into the locking hole 220 and abuts against the mating plate 210 to limit the movement of the second locking element 200 relative to the first locking element 100.

Specifically, can rotate relatively mount pad 130 through check lock lever 110 to can adjust check lock lever 110's gesture, when automobile body 400 drove second locking Assembly and move towards first locking Assembly, check lock lever 110 can accurately stretch into in the locking hole 220 in the cooperation board 210, and through the cooperation with locking portion 120, restriction second locking Assembly 200 removes for first locking Assembly 100, realize locking, thereby improved location locking mechanism's regulating power, reduced the locking degree of difficulty.

Referring to fig. 1, the first direction is defined as XX ', the second direction is defined as YY', the third direction coincides with ZZ 'when the third direction is perpendicular to the first direction, and the fourth direction coincides with ZZ' when the fourth direction is perpendicular to the second direction.

Further, locking portion 120 and check lock lever 110 threaded connection, through rotating locking portion 120, adjust the length that check lock lever 110 is located between station end and the cooperation board 210 to make locking portion 120 can support tightly in the cooperation board 210 one side that deviates from the station end, move with the relative station end of restriction cooperation board 210, and then restrict the relative station end of automobile body 400 and remove, make automobile body 400 by spacing in preset position. When it is necessary to release the vehicle body 400, the locking portion 120 is rotated in a reverse direction, so that the locking lever 110 is disengaged from the locking hole 220 to release the vehicle body 400. Preferably, the locking portion 120 is a hand wheel.

It should be noted that, when the production line has a plurality of station ends, and the vehicle body 400 moves along the conveying direction of the production line, the second locking component 200 on the vehicle body 400 can cooperate with the first locking component 100 on the corresponding station end according to specific working conditions to achieve locking, where the preset position is determined according to the specific working conditions. In addition, the vehicle body 400 and the station end are generally disposed opposite to each other in the horizontal direction, and the first direction is parallel to the horizontal plane in the embodiment. In other embodiments, the first direction may also have an angle with the horizontal.

Referring to fig. 2 and 3, fig. 3 is a schematic diagram of a first locking component of a positioning and locking mechanism according to an embodiment of the present invention. In one embodiment, the first locking assembly 100 further includes a swing base 140, the mounting base 130 is configured to be connected to the working end, the swing base 140 is rotatably connected to the mounting base 130 about a second direction, and the locking lever 110 is connected to the swing base 140, wherein the second direction is perpendicular to the first direction; at least one end of the swing base 140 is provided with a first limiting member 150, and in a locked state, the first limiting member 150 is used to fix the swing base 140 at different positions of the mounting base 130 around the second direction.

Specifically, the swing seat 140 can rotate around the second direction relative to the mounting seat 130, and the locking rod 110 is connected to the swing seat 140, so that the locking rod 110 can rotate around the second direction relative to the mounting seat 130, the posture of the locking rod 110 can be adjusted, the locking rod 110 can be conveniently and accurately inserted into the locking hole 220, the requirements on ground flatness and mounting precision can be reduced, the production cost is effectively reduced, the efficiency of positioning and locking the vehicle body 400 is improved, and the adaptability of the positioning and locking mechanism is improved.

After the locking portion 120 abuts against the matching plate 210, the first limiting member 150 limits the swing seat 140, so that the degree of freedom of the swing seat 140 rotating around the second direction is limited, and the swing seat 140 can prevent the locking rod 110 and the vehicle body 400 from swinging in a locking state, thereby improving the reliability of positioning and locking the vehicle body 400 by the positioning and locking mechanism.

With reference to fig. 2 and fig. 3, in one embodiment, two ends of the swing base 140 along a third direction are respectively provided with a first limiting member 150, and one end of the first limiting member 150 away from the swing base 140 is used for abutting against the mounting base 130, wherein the third direction is perpendicular to the second direction; the length of the first limiting member 150 between the swing base 140 and the mounting base 130 is adjustable, so that in a locked state, one end of the first limiting member 150 away from the swing base 140 abuts against the mounting base 130 to limit the swing base 140 to rotate around the second direction relative to the mounting base 130.

Specifically, the first limiting member 150 is screwed to the swing base 140, after the locking portion 120 abuts against the matching plate 210, the first limiting member 150 is rotated to enable the first limiting member 150 to move toward the mounting base 130 relative to the swing base 140, and when one end of each of the two first limiting members 150 abuts against the mounting base 130, two ends of the swing base 140 along the third direction cannot move toward the mounting base 130 any more, so as to stably limit the degree of freedom of the swing base 140 rotating around the second direction, and further limit the degree of freedom of the locking lever 110 rotating around the second direction. Preferably, the first limiting member 150 is a screw.

In other embodiments, the number of the first limiting members 150 is one, the first limiting members 150 are screwed to the swing base 140, and after the locking portion 120 abuts against the matching plate 210, by rotating the first limiting members 150, one end of the first limiting members 150 extending out of the swing base 140 is screwed to the mounting base 130, so as to limit the swing base 140 to move relative to the mounting base 130, and further stably limit the swing base 140 to rotate around the second direction.

Referring to fig. 3, in one embodiment, the first locking assembly 100 further includes a first rotating shaft 170 and two first ear plates 180, the two first ear plates 180 are spaced apart from each other along a first direction, two ends of the first rotating shaft 170 are respectively connected to one first ear plate 180 and extend along a second direction, and a portion of the first rotating shaft 170 located between the two first ear plates 180 is rotatably connected to the swing seat 140 around the second direction.

Specifically, the two first ear plates 180 are arranged so that the first rotating shaft 170 can be stably supported, and the portion of the first rotating shaft 170 located between the two first ear plates 180 is rotatably connected to the swing seat 140, so that the stability of the swing seat 140 is improved, and the reliability of the positioning and locking mechanism is improved.

Further, the swing seat 140 is slidably connected to the two first ear plates 180, so as to limit the movement of the swing seat 140 in the second direction, thereby improving the reliability of positioning and locking the vehicle body 400.

Referring still to fig. 2 and 3, in one embodiment, the locking lever 110 is rotatably coupled to the swing seat 140 about a third direction.

Specifically, the swing seat 140 can rotate around the second direction relative to the mounting seat 130, and the locking lever 110 can rotate around the third direction relative to the swing seat 140, so that the locking lever 110 can rotate around the third direction and the second direction relative to the mounting seat 130, thereby enlarging the range of posture adjustment of the locking lever 110, so that the locking lever 110 can be more conveniently and accurately inserted into the locking hole 220, thereby further reducing the requirements on ground smoothness and mounting accuracy, more effectively reducing the production cost, improving the efficiency of positioning and locking the vehicle body 400, and improving the adaptability of the positioning and locking mechanism.

Referring to fig. 2 and 3, in one embodiment, the second direction coincides with the vertical direction, an opening 280 is provided on the wall of the locking hole 220, the opening 280 is communicated with the edge of the mating plate 210 facing away from the vehicle body 400, and the opening 280 is used for allowing the locking rod 110 to extend into the locking hole 220.

Specifically, the opening 280 is located above the mating plate 210, the second direction coincides with the vertical direction, and the third direction is perpendicular to the second direction, that is, the locking rod 110 swings in the up-down direction relative to the swing seat 140 around the third direction, so that when the locking state is not locked, the posture of the locking rod 110 in the horizontal direction is adjusted first, when the vehicle body 400 is close to the station end, the locking rod 110 swings downward again, so that the locking rod can accurately extend into the locking hole 220, and then the locking of the vehicle body 400 is realized by matching with the locking portion 120, thereby improving the locking efficiency of the vehicle body 400. It should be noted that, since the opening 280 is located above the locking hole 220, the vehicle body 400 cannot move upward under the gravity in the locked state, so that the vehicle body 400 is stably located at the predetermined position.

Referring to fig. 3, in one embodiment, the swing seat 140 includes a first seat 141 and two first connecting plates 142, the first seat 141 is rotatably connected to the mounting seat 130, the first limiting member 150 is connected to the first seat 141, the two first connecting plates 142 are convexly disposed on a side of the first seat 141 away from the mounting seat 130 and are spaced apart from each other along a third direction, and the locking rod 110 is located between the two first connecting plates 142 and is rotatably connected to the two first connecting plates 142 around the third direction.

Specifically, the first seat 141 is rotatably connected to the mounting seat 130 through the first rotating shaft 170, and the locking lever 110 is rotatably connected to the two first connecting plates 142, so that the connection stability of the swing seat 140 of the locking lever 110 is improved, and the reliability of the positioning and locking mechanism is improved. Wherein, under the locking state, one side that first connecting plate 142 deviates from first pedestal 141 butts with cooperation board 210 to make the both sides of cooperation board 210 press from both sides tightly by first connecting plate 142 and locking portion 120, thereby realize spacing the stability of automobile body 400. In other embodiments, in the locked state, another member on the vehicle body 400 may abut against the mounting seat 130 to be engaged with the locking portion 120, thereby clamping the engagement plate 210.

Further, the first locking assembly 100 further includes a rotating member 160 extending along the third direction, two ends of the rotating member 160 are respectively connected to one first connecting plate 142, and the locking lever 110 is rotatably connected to the first connecting plates 142 and slidably connected to the two first connecting plates 142, so as to limit the movement of the locking lever 110 along the third direction, thereby improving the reliability of positioning and locking the vehicle body 400.

Referring to fig. 2 and 4, fig. 4 is a schematic view of a second locking assembly in the positioning and locking mechanism according to an embodiment of the present invention. In one embodiment, the second locking assembly 200 further includes a fixing seat 230, the fixing seat 230 is configured to be connected to an end side of the vehicle body 400, and the engaging plate 210 is rotatably connected to the fixing seat 230 around a first direction; at least one end of the mating plate 210 is provided with a second stopper 250, and the second stopper 250 is used for fixing the mating plate 210 at different positions around the first direction on the end surface of the vehicle body 400.

Specifically, cooperation board 210 can rotate around the first direction relative to fixing base 230, and locking hole 220 is located cooperation board 210, make locking hole 220 can rotate around the first direction for fixing base 230, thereby can adjust the gesture of locking hole 220, and lock lever 110 also can rotate around the second direction and the third direction relative mount pad 130, thereby enlarged the relative pivoted scope of lock lever 110 and locking hole 220, be convenient for the alignment of lock lever 110 with locking hole 220, and then further reduced the requirement to ground planarization and installation accuracy, production cost is reduced more effectively, the efficiency of automobile body 400 location locking has been improved, the adaptability of location locking mechanism has been improved.

After the locking portion 120 abuts against the matching plate 210, the matching plate 210 is limited by the second limiting member 250, so that the freedom of rotation of the matching plate 210 around the first direction is limited, and therefore the matching plate 210 can be prevented from rotating around the first direction relative to the vehicle body 400 in a locking state, and the reliability of positioning and locking the vehicle body 400 is improved.

It should be noted that the fixing base 230 is disposed at the top end of the vehicle body 400 and located at a side close to the station end, so that the locking rod 110 can be inserted into the locking hole 220 when the vehicle body 400 moves towards the station end. In other embodiments, the fixing seat 230 may also be disposed on a side of the vehicle body 400 facing the station end, as long as the locking rod 110 can be inserted into the locking hole 220 and cooperate with the locking portion 120 to lock the vehicle body 400.

Referring to fig. 2 and 4, in one embodiment, two ends of the matching plate 210 along a fourth direction are respectively provided with a second limiting member 250, and one end of the second limiting member 250 away from the matching plate 210 is used for abutting against the fixing base 230, wherein the fourth direction is perpendicular to the first direction; the length of the second limiting member 250 between the matching plate 210 and the fixing base 230 is adjustable, so that in a locked state, an end of the second limiting member 250 abuts against the fixing base 230 to limit the matching plate 210 from rotating around the first direction relative to the fixing base 230.

Specifically, the second limiting members 250 are screwed to the matching plate 210, when the locking portion 120 abuts against the matching plate 210, one end of the second limiting member 250, which is far away from the matching plate 210, can move toward the top surface of the vehicle body 400 by rotating the second limiting members 250, and when one ends of the two second limiting members 250 abut against the top surface of the vehicle body 400, both ends of the matching plate 210 along the fourth direction cannot move toward the top surface of the vehicle body 400, so as to stably limit the degree of freedom of the matching plate 210 rotating around the first direction. Preferably, the second retaining member 250 is a screw.

In other embodiments, the number of the second limiting members 250 is one, the second limiting members 250 are screwed to the matching plate 210, and after the locking portion 120 abuts against the matching plate 210, by rotating the second limiting members 250, one end of the second limiting members 250 extending out of the matching plate 210 is screwed to the top surface of the vehicle body 400, so as to limit the matching plate 210 to rotate relative to the top surface of the vehicle body 400, and further stably limit the degree of freedom of the matching plate 210 to rotate around the second direction.

Referring to fig. 4, in one embodiment, the fixing base 230 includes a second rotating shaft 260 and two second ear plates 270, the two second ear plates 270 are spaced apart from each other along a third direction, two ends of the second rotating shaft 260 are respectively connected to one of the second ear plates 270, and a portion of the second rotating shaft 260 located between the two second ear plates 270 is rotatably connected to the mating plate 210.

Specifically, the two second ear plates 270 are arranged so that the second rotating shaft 260 can be stably supported, and the portion of the second rotating shaft 260 located between the two second ear plates 270 is rotatably connected with the matching plate 210, so that the stability of the matching plate 210 is improved, and the reliability of the positioning and locking mechanism is improved.

Further, the fitting plate 210 is slidably connected to the two second ear plates 270, so that the fitting plate 210 is restricted from moving in the first direction, and the reliability of positioning and locking the vehicle body 400 is improved.

Referring to fig. 1, 2 and 3, in one embodiment, the positioning and locking mechanism further includes a positioning cavity 320 disposed on the vehicle body 400 and a guiding post 330 disposed on the mounting base 130, and the guiding post 330 is inserted into the positioning cavity 320 to pre-position the vehicle body 400.

Specifically, the guide post 330 is disposed on one side of the lock lever 110, when the vehicle body 400 is locked, the lock lever 110 is turned up first, then the positioning cavity 320 on the vehicle body 400 is aligned with the guide post 330 and pushed in, so as to pre-position the vehicle body 400, then the locking shaft is rotated into the locking hole 220 of the mating plate 210, then the locking portion 120 is rotated, so as to tightly abut against the mating plate 210, and finally the first limiting member 150 and the second limiting member 250 are rotated to limit the degree of freedom of the swing seat 140 and the mating plate 210, so as to complete the positioning and locking function of the vehicle body 400. In which the arrangement of the guide post 330 and the positioning cavity 320 can improve the efficiency of inserting the lock lever 110 into the lock hole 220, thereby improving the efficiency of locking the vehicle body 400.

Further, in the first direction, the size of the guide post 330 is larger than that of the lock lever 110, so that the vehicle body 400 can increase the distance between the connection of the lock lever 110 and the rotating member and the fitting plate 210 in a pre-positioned state, thereby facilitating the adjustment of the posture of the lock lever 110 and improving the efficiency of inserting the lock lever 110 into the lock hole 220.

Referring to fig. 1, 2 and 4, in one embodiment, the positioning and locking mechanism further includes two guide plates 340, the two guide plates 340 are spaced apart from each other on the vehicle body 400, a positioning cavity 320 is defined between the two guide plates 340, and a side of the guide plate 340 facing the guide post 330 is configured to abut against the station end to limit the movement of the vehicle body 400 towards the station end.

Specifically, two guide plates 340 are provided on the top end surface of the vehicle body 400. The positioning and locking mechanism further comprises a base plate 360, the guide post 330 is connected to the station end through the base plate 360, when the guide post 330 is inserted into the positioning cavity 320, one side of the guide plate 340 facing the guide post 330 abuts against the base plate 360, so that the movement of the vehicle body 400 towards the station end is limited, the locking portion 120 can abut against the matching plate 210 conveniently, and the positioning and locking efficiency of the vehicle body 400 is improved. Wherein, the upside of location chamber 320 is uncovered, because automobile body 400 can't upward movement under the effect of gravity to can not cause the influence to the prepositioning of automobile body 400.

Further, the positioning and locking mechanism further comprises an anti-collision block 350, wherein the anti-collision block 350 is disposed on one side of the guide plate 340 facing the base plate 360 and extends out of the vehicle body 400 facing the base plate 360, so that the anti-collision block 350 can be attached to the base plate 360, and the vehicle body 400 is stably limited from moving towards the station end. Preferably, the two guide plates 340 extend in the first direction.

Referring to fig. 1 and 2, an embodiment of the present invention provides a robot, including a vehicle body 400 and the above positioning and locking mechanism, the number of the first locking component 100 and the second locking component 200 is two, the two second locking components 200 are respectively disposed at two ends of the vehicle body 400, and the second locking component 200 is used for cooperating with the corresponding first locking component 100 to position and lock the vehicle body 400 at a predetermined position.

Specifically, in the robot that this application provided, can rotate relatively through lock lever 110 and cooperation board 210, thereby make lock lever 110 align with locking hole 220, when automobile body 400 drives the second locking subassembly and moves towards first locking subassembly, lock lever 110 can stretch into in the locking hole 220 in the cooperation board 210, and through the cooperation with locking portion 120, restriction second locking subassembly 200 removes for first locking subassembly 100, realize locking, thereby reduced the requirement to ground planarization and installation accuracy, the manufacturing cost of robot has been reduced effectively. And the arrangement of the second locking assemblies 200 at both ends of the vehicle body 400 enables both ends of the vehicle body 400 to be stably locked, thereby improving the stability of the robot being locked.

Further, the robot further comprises a mounting plate 370, the mounting plate 370 is mounted at the station end, the mounting base 130 and the base plate 360 are connected to the mounting plate 370, when the first locking component 100 needs to be replaced or detached, only the mounting plate 370 needs to be mounted or detached, and adaptability of the robot is improved.

Furthermore, the robot further comprises a mechanical arm 500, the mechanical arm 500 is arranged on the top surface of the vehicle body 400, and the positioning and locking mechanism is arranged, so that the robot can be stably locked at a preset position, the vehicle body 400 is prevented from shaking when the mechanical arm 500 operates, the operation precision of the mechanical arm 500 is improved, and the work efficiency of the robot is improved.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the concept of the present invention, several variations and modifications can be made, which all fall within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims (11)

1. A positioning and locking mechanism is used for positioning and locking a vehicle body at a station end and is characterized by comprising a first locking component and a second locking component which are arranged along a first direction;

the first locking assembly comprises a locking rod, a locking part and an installation seat, the installation seat is used for being connected to a station end, the locking rod can rotate relative to the installation seat, the second locking assembly is used for being connected to a vehicle body, the second locking assembly comprises a matching plate, and the matching plate is provided with a locking hole for the locking rod to insert;

the positioning locking mechanism is provided with a locking state, the locking rod penetrates through the locking hole under the locking state, and the locking part is connected to one end, penetrating through the locking hole, of the locking rod and abuts against the matching plate so as to limit the second locking component to move relative to the first locking component.

2. The positional locking mechanism of claim 1, wherein the first locking assembly further comprises a swing base rotatably coupled to the mounting base about a second direction, the locking lever coupled to the swing base, wherein the second direction is perpendicular to the first direction;

at least one end of the swinging seat is provided with a first limiting part, and under the locking state, the first limiting part is used for fixing the swinging seat at different positions of the mounting seat around the second direction.

3. The positioning and locking mechanism according to claim 2, wherein the swinging seat is provided with the first limiting member at each of two ends along a third direction, and one end of the first limiting member away from the swinging seat is used for abutting against the mounting seat, wherein the third direction is perpendicular to the second direction;

the length of the first limiting part between the swinging seat and the installation seat is adjustable, so that in a locking state, one end, far away from the swinging seat, of the first limiting part abuts against the installation seat to limit the swinging seat to rotate around the second direction relative to the installation seat.

4. The positional locking mechanism of claim 2, wherein said locking lever is pivotally coupled to said swing base about a third direction, wherein said third direction is perpendicular to said second direction.

5. The positioning and locking mechanism according to claim 4, wherein the second direction coincides with the vertical direction, an opening is provided on a wall of the locking hole, the opening is communicated with an edge of the mating plate facing away from the vehicle body, and the opening is used for allowing the locking rod to extend into the locking hole.

6. The positioning and locking mechanism according to claim 4, wherein the swinging seat includes a first seat body and two first connecting plates, the first seat body is rotatably connected to the mounting seat, the first position-limiting member is connected to the first seat body, the two first connecting plates are convexly disposed on a side of the first seat body facing away from the mounting seat and are spaced apart from each other along the third direction, and the locking rod is located between the two first connecting plates and is rotatably connected to the two first connecting plates around the third direction.

7. The positioning and locking mechanism according to any one of claims 1 to 6, wherein the second locking assembly further comprises a fixed seat for attachment to an end side of the vehicle body, the engagement plate being rotatably attached to the fixed seat about the first direction;

at least one end of the matching plate is provided with a second limiting part, and the second limiting part is used for fixing the matching plate at different positions of the end face of the vehicle body in the first direction.

8. The positioning and locking mechanism according to claim 7, wherein the second limiting members are respectively disposed at two ends of the mating plate along a fourth direction, and one end of the second limiting member away from the mating plate is configured to abut against the fixing seat, wherein the fourth direction is perpendicular to the first direction;

the length of the second limiting part between the matching plate and the fixed seat is adjustable, so that in a locking state, the end part of the second limiting part abuts against the fixed seat to limit the matching plate to rotate around the first direction relative to the fixed seat.

9. The positioning and locking mechanism according to any one of claims 1 to 6, further comprising a positioning cavity provided on an end side of the vehicle body and a guide post provided on the mounting seat, wherein the guide post is adapted to be inserted into the positioning cavity to pre-position the vehicle body.

10. The positioning and locking mechanism according to claim 9, further comprising two guide plates, the two guide plates being spaced apart from each other on the vehicle body, the positioning cavity being defined between the two guide plates, and a side of the guide plate facing the guide post being configured to abut against the station end to limit movement of the vehicle body toward the station end.

11. A robot, characterized in that, the robot includes automobile body and location locking mechanism of any one of claims 1-10, the quantity of first locking subassembly with the second locking subassembly is two, two the second locking subassemblies set up respectively in the both ends of automobile body, the second locking subassembly is used for with the first locking subassembly cooperation that corresponds, in order to fix a position the automobile body and lock in preset position.

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