| 摘要 |
A system for docking a platform adapted to carry a manipulator, in relation to a workstation. The system comprises a plurality of protruding members attached to the platform, a docking station arranged at the workstation and comprising a plurality of recesses adapted to receive the protruding members for positioning the platform relative the workstation. Each of the recesses comprises a positioning section defining a space and a supporting section tapering towards the positioning section and having at least one support surface, and the protruding members are protruding away from a bottom surface of the platform, and an outer end of each of the protruding members comprises a positioning portion designed to at least partly fit in said space, and a bearing portion tapering towards the positioning portion and having a bearing surface adapted to bear on the support surface when the positioning portion is fitted in said space. |
| 主权项 |
1. A docking system comprising:
a plurality of protruding members attached to a platform, a docking station arranged at a workstation, the docking station comprising a plurality of recesses adapted to receive the protruding members for positioning the platform relative to the workstation, wherein each of the plurality of recesses comprises:
a positioning section defining a space and a supporting section tapering towards the positioning section and having at least one support surface, wherein the support surface has an angle α1 in relation to a center axis of the recess, and the angle α1 of the support surface is between 30° and 70°, between 35° and 65°, or between 40° and 55°, anda funnel shaped guiding section tapering towards the supporting section, and the guiding section has a guiding surface having an angle α2 in relation to the center axis of the recess, and the angle α2 of the guiding surface is equal to or larger than the angle α1 of the support surface,wherein the angle α2 of the guiding surface is defined by the equation:
tan (90−α2)>μ, whereby μ is the static friction coefficient between the guiding surface and the positioning portion wherein the protruding members protrude away from a bottom surface of the platform, and an outer end of each of the protruding members comprises:
a positioning portion designed to at least partly fit in said space, anda bearing portion tapering towards the positioning portion and having a bearing surface, the bearing surface is adapted to bear on the support surface when the positioning portion is fitted in said space, and the positioning section and the positioning portion are designed so that an accommodation is formed below the positioning portion when the positioning portion is fitted in said space. |
