Slide rail, robot, conveying mechanism and robot load docking system

Abstract

The present invention discloses a slide rail and a robot. The slide rail includes a slide rail body, on which a self-locking mechanism, at least one power supply module and a driving mechanism are provided. The robot includes a chassis, a housing mounted on the chassis and a plurality of interchangeable functional modules. The functional modules are installed in the housing through the slide rail, and obtain electric energy and power through the power supply module and the driving mechanism on the slide rail. The present invention also discloses a conveying mechanism and a robot load docking system including the conveying mechanism and the above-mentioned robot. The conveying mechanism is mounted on the slide rail and used to connect the robot with other devices to realize the transfer of functional modules. The beneficial effects of the present invention are as follows: The slide rail standardizes and generalizes the installation of functional modules, enabling the robot to become a multi-functional platform.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a slide rail, a robot, and a robot load docking system.

Background Art

[0002] Currently, the application scope of robots is getting wider and wider. However, with the refinement of functions, the types of robots are increasing, making the production and design of robots face the problems of a wide variety and inconsistent standards, resulting in major manufacturers often only focusing on their respective subdivided fields, and making the cost of robots remain high. For example, in the prior art, there are dedicated delivery robots for delivery, dedicated disinfection robots for disinfection operations, and dedicated fire-fighting robots for fire extinguishing, which cannot be integrated on a unified platform.

[0003] In view of this, it is necessary to provide a robot function module conveying mechanism, a robot, and a robot load docking system to overcome the above defects.

Summary of the Invention

[0004] The purpose of the present invention is to provide a slide rail that can be installed on a robot so that the robot can be compatible with installing various function modules with different functions.

[0005] To achieve the above purpose, the first aspect of the present invention provides a slide rail, including a slide rail body. The slide rail body includes a loading end and a limiting end far from the loading end, and a self-locking mechanism, at least one power supply module, and a driving mechanism are provided on the slide rail body; the self-locking mechanism is arranged at the loading end of the slide rail body, the driving mechanism is arranged at the limiting end of the slide rail body, and the power supply module is arranged between the loading end and the limiting end of the slide rail body; the power supply module includes a power supply elastic sheet, a power supply connector, and a power supply mounting seat. The power supply mounting seat is penetrated through the slide rail body. The power supply elastic sheet is elastic and embedded in the power supply mounting seat, and the top of the power supply elastic sheet protrudes from the surface of the power supply mounting seat and suspends and fixes the power supply connector on the slide rail body. The slide rail body is provided with a power supply mounting hole for installing the power supply mounting seat.

[0006] In a preferred embodiment, the bottom of the power supply mounting seat is provided with a elastic sheet mounting groove, and the top is provided with an elastic sheet opening for the power supply elastic sheet to extend out.

[0007] In a preferred embodiment, the power supply elastic sheet is in an arch shape, one end is fixedly connected to the inner wall of the elastic sheet mounting groove, the other end abuts against the inner wall of the elastic sheet mounting groove, and the middle part extends out of the elastic sheet opening and is used to connect the power supply connector.

[0008] In a preferred embodiment, the power supply connector includes a power supply base connected to the power supply spring and a plurality of power supply contacts extending from the edge of the power supply base.

[0009] In a preferred embodiment, the edge of the power supply base is bent to form a flange, and the flange is cut to form a plurality of power supply contacts.

[0010] In a preferred embodiment, the self-locking mechanism includes a rotating shaft rotatably connected to the slide rail body, an elastic reset sleeve sleeved on the rotating shaft, and a self-locking arm with one end passed through the rotating shaft and connected to the elastic reset sleeve; the slide rail body is provided with a self-locking mounting groove at the loading end for accommodating the self-locking mechanism, and the end of the self-locking arm away from the rotating shaft extends out of the self-locking mounting groove under the action of the elastic reset sleeve.

[0011] In a preferred embodiment, the self-locking mechanism also includes an unlocking servo, which includes an unlocking drive, an unlocking swing arm, a first connecting rod and a second connecting rod. The unlocking swing arm is connected between the unlocking drive and the first connecting rod, and the second connecting rod is rotatably connected between the first connecting rod and the self-locking arm. The first connecting rod is also slidably connected to the slide rail body. The unlocking drive pushes the first connecting rod and pulls the second connecting rod by swinging the unlocking swing arm, so that the second connecting rod pulls the self-locking arm into the self-locking groove to complete the unlocking.

[0012] In a preferred embodiment, an unlocking protrusion is provided on the side of the slide rail body facing away from the functional module, and a groove is provided on the unlocking protrusion for the first connecting rod to pass through, and an unlocking fixing rod is provided in the groove and passes through the unlocking protrusion, and an unlocking slide groove is provided on the end of the first connecting rod away from the unlocking swing arm, which slides with the unlocking fixing rod.

[0013] In a preferred embodiment, the driving mechanism includes a driving motor and an output shaft connected to the driving motor. The driving motor is installed at the bottom of the slide rail body. The output shaft passes through the slide rail body away from the driving motor and is provided with a power output part.

[0014] In a preferred embodiment, the driving motor is slidably connected to the slide rail body, and a return spring is provided between the driving motor and the slide rail body.

[0015] In a preferred embodiment, a pair of mounting plates and a docking slider slidably connected between the pair of mounting plates are provided on the top of the drive motor, the pair of mounting plates are fixedly connected to the slide rail body, and the docking slider is connected to the drive motor to hang the drive motor under the pair of mounting plates.

[0016] In a preferred embodiment, a position detection component is further provided on the slide rail. The position detection component includes any one of a proximity switch, a Hall inductor, and a magnetic induction switch. The position detection component is installed at the limiting end.

[0017] In a preferred embodiment, the slide rail body includes a carrier plate for carrying objects and a positioning plate extending from one side edge of the carrier plate. A plurality of load-bearing wheels are provided on the carrier plate, and a plurality of first positioning wheels and a plurality of second positioning wheels are provided on the positioning plate. The first positioning wheels and the second positioning wheels press on the objects carried by the carrier plate in two different directions respectively.

[0018] In a preferred embodiment, the positioning plate is vertically provided at one side edge of the carrier plate. The first positioning wheels press on the objects carried by the carrier plate in a direction perpendicular to the carrier plate, and the second positioning wheels press on the objects carried by the carrier plate in a direction perpendicular to the positioning plate; the height of the first positioning wheels is greater than the height of the second positioning wheels.

[0019] A second aspect of the present invention provides a robot, including a chassis, a housing installed on the chassis, and a plurality of replaceable function modules; the chassis is provided with a power module and a navigation module for autonomous navigation and walking of the robot; one end or both ends of the housing are open for accommodating the function modules. The function modules are loaded into the housing from the openings of the housing. A plurality of the above-mentioned slide rails are installed on the inner wall of the housing, and the slide rails are arranged in pairs and used for installing the function modules.

[0020] In a preferred embodiment, a self-locking groove for cooperating with the self-locking mechanism is provided at the bottom of the function module.

[0021] In a preferred embodiment, a power supply female seat capable of being plugged and matched with a power supply connector one by one is provided at the bottom of the function module.

[0022] In a preferred embodiment, a female seat ring groove is provided on the power supply female seat, and a plurality of power supply sockets are provided at the bottom of the female seat ring groove.

[0023] A third aspect of the present invention provides a conveying mechanism for connecting the above-mentioned robot with a preset conveying device. The conveying mechanism includes a load-carrying rack and a synchronous rack that can be coupled with each other. The load-carrying rack is detachably installed on a pair of the slide rails, and the synchronous rack is detachably installed on the preset conveying device. The preset device is used for transporting the function modules. The load-carrying rack and the synchronous rack are respectively provided with a first synchronous belt mechanism and a second synchronous belt mechanism. The function modules are transferred between the preset conveying device and a pair of the slide rails of the robot through the first synchronous belt mechanism and the second synchronous belt mechanism.

[0024] The fourth aspect of the present invention provides a robot load docking system, including the above-mentioned conveying mechanism and the above-mentioned robot.

[0025] The slide rail provided by the present invention standardizes and generalizes the installation of functional modules, so that the robot can become a multi-functional platform. At the same time, the robot can also install a conveying mechanism through the slide rail, enabling the robot to be connected to a preset conveying device. Then, through the robot load docking system, the robot realizes the replacement of functional modules without a manipulator.

Description of the Drawings

[0026] To more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the embodiments. It should be understood that the following drawings only show some embodiments of the present invention, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0027] Figure 1 It is a three-dimensional view of the robot provided by the present invention;

[0028] Figure 2 It is Figure 1 a three-dimensional view of the robot shown unloading a functional module;

[0029] Figure 3 It is Figure 1 a three-dimensional view of a functional module shown;

[0030] Figure 4 It is Figure 3 an enlarged view of area A shown;

[0031] Figure 5 It is Figure 3 an enlarged view of area B shown;

[0032] Figure 6 It is Figure 2 a three-dimensional view of the slide rail shown;

[0033] Figure 7 It is Figure 6 a three-dimensional view of the slide rail shown after disassembling the self-locking mechanism;

[0034] Figure 8 It is Figure 7 an enlarged view of area C shown;

[0035] Figure 9 It is Figure 6 a three-dimensional view of the slide rail shown after disassembling the power supply module;

[0036] Figure 10 It is Figure 6Exploded perspective view of the power supply module shown;

[0037] Figure 11 is Figure 6 Perspective view of the power supply elastic piece shown mounted on the power supply mounting base;

[0038] Figure 12 is Figure 6 Perspective view of the power supply elastic piece shown mounted on the power supply mounting base from another angle;

[0039] Figure 13 is Figure 6 Perspective view of the slide rail shown after disassembling the drive mechanism;

[0040] Figure 14 Schematic structural diagram of the conveying mechanism provided in Embodiment 3 of the present invention.

[0041] Among them,

[0042] 100 - robot;

[0043] 10 - chassis, 12 - housing, 14 - functional module, 16 - human - machine interaction module;

[0044] 141 - self - locking groove, 142 - power supply female seat, 143 - docking part;

[0045] 1421 - power supply socket, 1423 - female seat annular groove;

[0046] 200 - slide rail;

[0047] 20 - slide rail body, 23 - self - locking mechanism, 25 - power supply module, 27 - drive mechanism;

[0048] 201 - loading end, 202 - limiting end, 203 - bearing plate, 204 - positioning plate;

[0049] 205 - load - bearing wheel, 206 - first positioning wheel, 207 - second positioning wheel, 208 - self - locking installation groove, 209 - unlocking protrusion, 210 - power supply installation hole, 211 - motor hole;

[0050] 2041 - guiding part;

[0051] 231 - rotating shaft, 232 - elastic reset sleeve, 233 - self - locking arm, 234 - unlocking servo;

[0052] 2331 - roller, 2341 - unlocking driving part, 2342 unlocking swing arm, 2343 - first connecting rod, 2345 - unlocking chute;

[0053] 251 - power supply elastic piece, 252 - power supply connector, 253 - power supply mounting base;

[0054] 2521 - Power supply base, 2523 - Power supply contact piece, 2524 - Flange, 2531 - Shrapnel installation groove;

[0055] 271 - Driving motor, 272 - Output shaft;

[0056] 2712 - Mounting plate, 2713 - Docking slider, 2721 - Power output part;

[0057] 300 - Conveying mechanism;

[0058] 30 - Carrying rack, 32 - Synchronization rack.

Specific implementation manner

[0059] In order to make the objectives, technical solutions and beneficial technical effects of the present invention clearer and more understandable, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation manners. It should be understood that the specific implementation manners described in this specification are only for explaining the present invention and are not intended to limit the present invention.

[0060] It should also be understood that the terms used in this specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in this specification of the present invention and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include the plural forms.

[0061] It should be further understood that the term " / and" as used in this specification of the present invention and the appended claims refers to any combination and all possible combinations of one or more of the related listed items, and includes these combinations.

[0062] Embodiment 1

[0063] Please refer to Figures 1 to 5 , in Embodiment 1 of the present invention, a robot 100 is provided. The robot 100 includes a chassis 10, a housing 12 mounted on the chassis 10, and a plurality of replaceable functional modules 14.

[0064] Among them, the chassis 10 is provided with a power module (not shown in the figure) and a navigation module (not shown in the figure) to achieve the purpose of autonomous navigation and walking; one end or both ends of the housing 12 are open for accommodating the functional module 14. For example, the housing 12 can be hollow and provided with two openings, and the functional module 14 enters and exits the housing 12 from one opening. At the same time, a plurality of pairs of slide rails 200 are arranged on the inner wall of the housing 12, and each pair of slide rails 200 can be used to mount a functional module 14; the functional module 14 can be, but is not limited to, any one of a delivery functional module for performing delivery tasks, a disinfection functional module for performing disinfection tasks, and a fire extinguishing functional module for performing fire extinguishing tasks. That is, the robot 100 can replace the corresponding functional module 14 according to the requirements of the task scenario.

[0065] In this embodiment, a human-machine interaction module 16 and an Internet of Things module (not shown in the figure) are further provided on the top of the housing 12. The human-machine interaction module 16 is used for personnel operation, and the Internet of Things module is used for acquiring and uploading task data, and the Internet of Things module can be integrated in the human-machine interaction module 16.

[0066] It should be understood that the robot 100 is provided with a plurality of interchangeable functional modules 14 and has an autonomous navigation function, so that the robot 100 can independently perform various different tasks, can replace manual labor to perform tasks with certain risks, such as disinfection and fire extinguishing tasks, and can also replace manual labor to complete tasks with a large workload (such as express delivery tasks), thereby effectively reducing various labor costs.

[0067] Embodiment 2

[0068] Please refer to Figure 6 , in Embodiment 2 of the present invention, a slide rail 200 is provided. The slide rail 200 is installed on the robot 100 and is used for loading the functional module 14 of the robot 100. It should be understood that the function of the slide rail 200 is to improve the versatility of the robot 100, so that the robot 100 can replace the corresponding functional module 14 according to the requirements of the task scenario. For example, when the robot 100 is required to perform a delivery task, the delivery functional module 14 can be loaded on the robot 100, and when the robot 100 is required to perform a disinfection task, the disinfection functional module 14 can be loaded on the robot 100.

[0069] Specifically, the slide rail 200 includes a slide rail body 20. The slide rail body 20 is provided with a loading end 201 and a limiting end 202 far from the loading end 201. The functional module 14 is loaded into a pair of slide rail bodies 20 along the direction from the loading end 201 to near the limiting end 202. The slide rail body 20 includes a bearing plate 203 for carrying objects and a positioning plate 204 extending from one side edge of the bearing plate 203. When the width of the functional module 14 matches the distance between two positioning plates 204 on a pair of slide rails 200, the functional module 14 can be loaded into the pair of slide rails 200, and it is relatively convenient to replace the functional module 14.

[0070] Next, in order to reduce the installation difficulty of the functional module 14, a number of load-bearing wheels 205 are provided on the bearing plate 203, and a number of first positioning wheels 206 and a number of second positioning wheels 207 are provided on the positioning plate 204. The first positioning wheels 206 and the second positioning wheels 207 press on the functional module 14 carried by the bearing plate 203 along two different directions respectively.

[0071] It should be understood that the load-bearing wheels 205, the first positioning wheels 206 and the second positioning wheels 207 can reduce the friction between the functional module 14 and the slide rail body 20, thereby reducing the difficulty of loading the functional module 14 and reducing the wear between the functional module 14 and the slide rail body 20, and further improving the service life of the slide rail body 20 and the functional module 14. At the same time, the first positioning wheels 206 and the second positioning wheels 207 press on the functional module 14 along two different directions respectively, so that the functional module 14 will not shift when sliding along the slide rail body 20, and the loading accuracy of the functional module 14 can be improved.

[0072] In this embodiment, in order to ensure that the functional module 14 can slide on the slide rail body 20 along the direction from the loading end 201 to near the limiting end 202, the load-bearing wheels 205, the first positioning wheels 206 and the second positioning wheels 207 are arranged in a row along the direction from the loading end 201 to near the limiting end 202. In this way, the rolling directions of the load-bearing wheels 205, the first positioning wheels 206 and the second positioning wheels 207 are all consistent with the sliding direction of the functional module 14, so that the moving direction of the functional module 14 can be effectively stabilized.

[0073] Correspondingly, the positioning plate 204 is vertically arranged on one side edge of the bearing plate 203. The first positioning wheel 206 presses on the functional module 14 in a direction perpendicular to the bearing plate 203, and the second positioning wheel 207 presses on the functional module 14 in a direction perpendicular to the positioning plate 204, so as to improve the positioning effect of the first positioning wheel 206 and the second positioning wheel 207 on the functional module 14. At the same time, there is a certain height difference between the first positioning wheel 206 and the second positioning wheel 207, so that the side force-bearing area of the functional module 14 can be increased, thereby improving the limiting stability of the first positioning wheel 206 and the second positioning wheel 207. For example, the first positioning wheel 206 can be arranged at the top position of the positioning plate 204, and the second positioning wheel 207 can be arranged in the middle area of the positioning plate 204, that is, the height of the first positioning wheel 206 is greater than the height of the second positioning wheel 207.

[0074] In this embodiment, both the bearing plate 203 and the positioning plate 204 are made of aluminum alloy material, and the bearing plate 203 and the positioning plate 204 are manufactured by integral molding to shorten the production and manufacturing time, thereby improving production efficiency.

[0075] At the same time, in order to facilitate the introduction of the functional module 14 into the slide rail body 20, the positioning plate 204 is provided with an inclined guiding portion 2041 at one end close to the loading end 201. The two guiding portions 2041 of a pair of slide rails 20 form a horn-shaped opening, so that the functional module 14 can more easily enter the slide rail 20. It should be noted that the guiding portion 2041 can also be used to install the second positioning wheel 207, which also makes it easier for the functional module 14 to enter the slide rail 20.

[0076] Furthermore, please refer to Figure 7 and Figure 8 , in order to facilitate the fixing of the functional module 14, the slide rail 200 further includes a self-locking mechanism 23. The self-locking mechanism 23 is arranged at the loading end 201 of the slide rail body 20. Specifically, the self-locking mechanism 23 is installed on the bearing plate 203 of the slide rail body 20 and is used to lock the functional module 14 on the slide rail body 20 to prevent it from falling off. For example, it can prevent the functional module 14 on the slide rail body 20 from being stolen, and can also prevent the functional module 14 from falling off when the slide rail body 20 is in a tilted state. Correspondingly, a self-locking groove 141 matching the self-locking mechanism 23 is opened at the bottom of the functional module 14.

[0077] More specifically, the self-locking mechanism 23 includes a rotating shaft 231 rotatably connected to the slide rail body 20, an elastic reset sleeve 232 sleeved on the rotating shaft 231, and a self-locking arm 233 with one end passed through the rotating shaft 231 and connected to the elastic reset sleeve 232. Correspondingly, the slide rail body 20 is provided with a self-locking mounting groove 208 at the loading end 201 for accommodating the self-locking mechanism 23. In this embodiment, the rotating shaft groove 208 is arranged on the supporting plate 203 near the loading end 201, and the end of the self-locking arm 233 away from the rotating shaft 231 extends out of the self-locking mounting groove 208 under the action of the elastic reset sleeve 232 to cooperate with the self-locking groove 141.

[0078] It should be understood that when the functional module 14 is installed, the functional module 14 will first press the end of the self-locking arm 233 away from the rotating shaft 231 into the self-locking mounting groove 208. When the self-locking groove 141 moves to the top of the self-locking arm 233, the self-locking arm 233 pops out from the self-locking mounting groove 208 and gets stuck in the self-locking groove 141, forming self-locking for the functional module 14. The structure is simple and reliable.

[0079] It should also be noted that in order to facilitate the functional module 14 to press the self-locking arm 233 to move, a roller 2331 is provided at the end of the self-locking arm 233 away from the rotating shaft 231, that is, when the functional module 14 presses against the self-locking arm 233, it will form a rolling fit with the roller 2331, thereby reducing the friction between the self-locking arm 233 and the functional module 14 and improving the service life of the self-locking mechanism 23.

[0080] At the same time, the self-locking mechanism 23 also includes an unlocking servo 234, which is installed on the side of the slide rail body 20 away from the functional module 14 and is connected to the self-locking arm 233. The function of the unlocking servo 234 is to limit the pop-up height of the self-locking arm 233, so that the self-locking mechanism 23 cannot self-lock, that is, the unlocking servo 234 is used to release the self-locking state.

[0081] Specifically, the unlocking servo 234 may include an unlocking drive 2341, an unlocking swing arm 2342, a first connecting rod 2343 and a second connecting rod (not shown in the figure). The unlocking swing arm 2342 is connected between the unlocking drive 2341 and the first connecting rod 2343, and the second connecting rod is rotatably connected between the first connecting rod 2343 and the self-locking arm 233, and the first connecting rod 2343 is also slidably connected to the slide rail body 20. Correspondingly, an unlocking protrusion 209 is provided on the side of the slide rail body 20 away from the functional module 14, and a groove (not shown in the figure) for the first connecting rod 2343 to pass through is provided on the unlocking protrusion 209, and an unlocking fixing rod 2091 is provided in the groove, and an unlocking slide groove 2345 that slides with the unlocking fixing rod 2091 is provided on the end of the first connecting rod 2343 away from the unlocking swing arm 2342.

[0082] It should be understood that when unlocking, the unlocking driving member 2341 pushes the first connecting rod 2343 to pull the second connecting rod by swinging the unlocking swing arm 2342, so that the second connecting rod will pull the self-locking arm 233 into the self-locking groove 141, thereby completing the unlocking action.

[0083] Furthermore, please refer to Figures 9 to 12 , between the loading end 201 and the limiting end 202 of the slide rail body 20, at least one power supply module 25 is further provided to supply electric energy to the functional module 14. Correspondingly, a power supply female seat 142 that can cooperate with the power supply module 25 is provided at the bottom of the functional module 14.

[0084] Specifically, the power supply module 25 includes a power supply elastic piece 251, a power supply connector 252 and a power supply mounting seat 253. The power supply mounting seat 253 is penetrated through the slide rail body 20. Correspondingly, the slide rail body 20 is provided with a power supply mounting hole 210 for mounting the power supply mounting seat 253. The power supply elastic piece 251 has elasticity and is embedded in the power supply mounting seat 253, and the top of the power supply elastic piece 251 protrudes from the surface of the power supply mounting seat 253 and suspends and fixes the power supply connector 252 on the slide rail body 20. The power supply connector 252 can be inserted and matched with the power supply female seat 142.

[0085] In this embodiment, after the functional module 14 enters the slide rail 200, it will press on the power supply connector 252, causing the power supply connector 252 to sink, that is, the power supply module 25 will not affect the installation of the functional module. Then, after the functional module 14 is locked by the self-locking mechanism 23, the power supply connector 252 can just be inserted into the power supply female seat 142 to form an electrical connection, so as to achieve the purpose of supplying power to the power supply module 25.

[0086] It should be understood that through the elastic action of the power supply elastic piece 251 of the power supply module 25 and the gravity action of the functional module 14, the power supply connector 252 and the power supply female seat 142 can be combined more stably together, thereby bringing a better electrical connection effect.

[0087] More specifically, the bottom of the power supply mounting seat 253 is provided with a spring piece mounting groove 2531, and the top is provided with a spring piece opening 2532 for the power supply spring piece 251 to extend out. The power supply spring piece 251 is in an arch shape, and one end is fixedly connected to the inner wall of the spring piece mounting groove 2531, the other end abuts against the inner wall of the spring piece mounting groove 2531, and the middle part extends out of the spring piece opening 2532 and is used to connect the power supply connector 252. It should be understood that after the functional module 14 presses on the power supply connector 252, the end of the power supply spring piece 251 abutting against the inner wall of the spring piece mounting groove 2531 will move downwards, so that the power supply connector 252 can sink, and the structure is simple and reliable.

[0088] The power supply connector 252 includes a power supply base 2521 connected to the power supply elastic piece 251 and a plurality of power supply contact pieces 2523 extending from the edge of the power supply base 2521. Correspondingly, a plurality of power supply sockets 1421 corresponding to the power supply contact pieces 2523 are provided on the female power supply base 142. That is, after the functional module 14 is locked on the slide rail 200, the power supply contact pieces 2523 will be inserted into the power supply sockets 1421 one by one. It should be noted that the power supply elastic piece 251 should not be provided at one end of the power supply base 2521 close to the self-locking mechanism 23 to prevent the power supply elastic piece 251 from blocking the functional module 14. For example, the power supply base 2521 can be in the shape of a rectangular plate, and the number of power supply contact pieces 2523 can be set to five. Four of the power supply contact pieces 2523 are respectively provided on both sides of the power supply base 2521, and the remaining one power supply contact piece 2523 is provided at one end of the power supply base 2521 away from the self-locking mechanism 23. Moreover, the power supply contact pieces 2523 have a certain elasticity, so that the power supply contact pieces 2523 are not easily deformed during the plugging and unplugging process. In this embodiment, the edge of the power supply base 2521 is bent to form a flanging 2524, and the flanging 2524 is cut to form a plurality of power supply contact pieces 2523. Correspondingly, a female seat annular groove 1423 capable of cooperating with the flanging 2524 is provided on the female power supply base 142, and a boss is formed to sleeve the power supply base 2521. The power supply socket 1421 is provided at the bottom of the female seat annular groove 1423. That is to say, after the power supply connector 252 is inserted into the female power supply base 142, the power supply base 2521 can just be sleeved on the boss, which can improve the stability of the electrical connection.

[0089] Further, please refer to Figure 13 , the slide rail body 20 is also provided with a driving mechanism 27 at the limiting end 202. The driving mechanism 27 is used to connect the functional module 14 on the slide rail body 20 and deliver power to the functional module 14. For example, when the functional module 14 is a delivery functional module 14, the driving mechanism 27 can be used to open or close the door of the delivery functional module 14.

[0090] Specifically, the driving mechanism 27 includes a driving motor 271 and an output shaft 272 connected to the driving motor 271. The driving motor 271 is installed at the bottom of the slide rail body 20. The output shaft 272 extends away from the driving motor 271 through the slide rail body 20 and is provided with a power output part 2721 for docking with the functional module 14. Correspondingly, a docking part 143 capable of docking with the power output part 2721 is provided on the functional module 14, and the slide rail body 20 is provided with a motor hole 211 for the output shaft 272 to pass through. Preferably, the power output part 2721 and the docking part 143 are in gear transmission.

[0091] In this embodiment, the drive motor 271 is slidably connected to the slide rail body 20. A return spring (not shown in the figure) is provided between the drive motor 271 and the slide rail body 20, so that the power output part 2721 and the docking part 143 can tightly abut against each other, which can improve the meshing effect and the efficiency of power output. Specifically, a pair of mounting plates 2712 are provided at the top of the drive motor 271, and a docking slider 2713 is slidably connected between the pair of mounting plates 2712. The pair of mounting plates 2712 are fixedly connected to the slide rail body 20, and the docking slider 2713 is connected to the drive motor 271 to hang the drive motor 271 below the pair of mounting plates 2712.

[0092] Furthermore, a variety of in-place detection components can also be provided on the slide rail 200, including proximity switches, Hall sensors, magnetic induction switches, etc., which are used to detect whether the meshing position of the transmission docking part 143 is in place, or to detect whether the functional module 14 is installed in place, to protect the functions of the detection components. Specifically, the in-place detection components can be installed at the limiting end 202 of the slide rail 200 to detect close to the drive mechanism 27.

[0093] In summary, the power supply module 25, the self-locking mechanism 23 and the drive mechanism 27 are provided on the slide rail 200, so that the slide rail 200 can not only fix the functional module 14, but also supply power to the functional module 14 and output power to the functional module 14, thereby effectively improving the task diversity of the robot 100.

[0094] Embodiment 3

[0095] Please refer to Figure 14 , in Embodiment 3 of the present invention, a conveying mechanism 300 is provided. The conveying mechanism 300 connects the above-mentioned robot to a preset conveying device (not shown in the figure) to transfer the functional module 14 between the preset conveying device and the robot 100. For example, the conveying line for placing and delivering the functional module 14 can be connected to the slide rail 200 of the robot 100 through the conveying mechanism 300. The function of the conveying mechanism 300 is to load the delivery functional module on the conveying line into the slide rail 200 of the robot 100. It should be understood that the conveying mechanism 300 can reduce labor costs and improve the picking and delivery efficiency of the delivery task. Of course, the conveying mechanism 300 can also be used to convey other functional modules 14, which is not specifically limited here.

[0096] Specifically, as Figures 8 - 14As shown in the figure, the conveying mechanism 300 includes a load rack 30 and a synchronization rack 32 that can be coupled to each other. The load rack 30 is detachably mounted on a pair of slide rails 200, and the synchronization rack 32 is detachably mounted on a preset conveying device for transporting the functional module 14. The load rack 30 and the synchronization rack 32 are respectively provided with a first synchronous belt mechanism and a second synchronous belt mechanism. That is to say, the load rack 30 and the synchronization rack 32 can be two synchronous belt mechanisms that can be coupled to each other to transfer the functional module 14 between the preset conveying device and the pair of slide rails 200 of the robot.

[0097] Embodiment 4

[0098] As Figures 9 - 10 , Figure 14 As shown in the figure, the present invention also provides a robot load docking system, which includes the conveying mechanism, the slide rails 200 and the robot 100 described in any of the above embodiments. It can be understood that the system can place the functional module 14 on the preset conveying device, and the robot 100 can automatically receive the functional module 14 from the preset conveying device through the conveying mechanism, or place the functional module 14 that has completed its task on the preset conveying device. In this process, no manual participation is required, which can effectively improve the automation degree of the system, and the structure is simple, which can effectively reduce the design and production costs.

[0099] In summary, the robot load docking system provided by the present invention enables the robot to dock with other functional module 14 conveying devices and realizes the mutual transfer of the functional modules 14, eliminating the traditional functional module 14 grasping mechanisms such as robotic arms, streamlining the structure of the system, and improving the efficiency of the robot task execution.

[0100] The present invention is not limited only to what is described in the specification and embodiments. Therefore, for those skilled in the art, additional advantages and modifications can be easily achieved. Therefore, without departing from the spirit and scope of the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details, representative devices, and illustrated examples shown and described here.

Claims

1. A slide rail, characterized in that, The invention comprises a slide rail body, wherein the slide rail body comprises a loading end and a limiting end away from the loading end, and the slide rail body is provided with a self-locking mechanism, at least one power supply module and a driving mechanism; the self-locking mechanism is arranged at the loading end of the slide rail body, the driving mechanism is arranged at the limiting end of the slide rail body, and the power supply module is arranged between the loading end and the limiting end of the slide rail body; the power supply module comprises a power supply spring, a power supply connector and a power supply mounting seat, the power supply mounting seat is passed through the slide rail body, the power supply spring is elastic and embedded in the power supply mounting seat, and the top of the power supply spring protrudes from the surface of the power supply mounting seat and suspends and fixes the power supply connector on the slide rail body, and the slide rail body is provided with a power supply mounting hole for mounting the power supply mounting seat; The bottom of the power supply mounting seat is provided with a spring clip mounting groove, and the top is provided with a spring clip opening for the power supply spring clip to extend out; The power supply spring is in the shape of an arch bridge, with one end fixedly connected to the inner wall of the spring installation slot, the other end resting on the inner wall of the spring installation slot, and the middle part extending out of the spring opening and used to connect the power supply connector.

2. The slide rail according to claim 1, characterized in that, The power supply connector includes a power supply base connected to the power supply spring and a plurality of power supply contacts extending from the edge of the power supply base.

3. The slide rail according to claim 2, wherein, The edge of the power supply base is bent to form a flange, and the flange is cut to form a plurality of power supply contacts.

4. The slide rail according to claim 1, characterized in that The self-locking mechanism includes a rotating shaft rotatably connected to the slide rail body, an elastic reset sleeve sleeved on the rotating shaft, and a self-locking arm with one end passed through the rotating shaft and connected to the elastic reset sleeve; the slide rail body is provided with a self-locking mounting groove at the loading end for accommodating the self-locking mechanism, and the end of the self-locking arm away from the rotating shaft extends out of the self-locking mounting groove under the action of the elastic reset sleeve.

5. The slide rail according to claim 4, characterized in that, The self-locking mechanism also includes an unlocking servo, which includes an unlocking drive, an unlocking swing arm, a first connecting rod and a second connecting rod. The unlocking swing arm is connected between the unlocking drive and the first connecting rod, and the second connecting rod is rotatably connected between the first connecting rod and the self-locking arm. The first connecting rod is also slidably connected to the slide rail body. The unlocking drive pushes the first connecting rod and pulls the second connecting rod by swinging the unlocking swing arm, so that the second connecting rod pulls the self-locking arm into the self-locking mounting slot to complete the unlocking.

6. The slide rail according to claim 5, characterized in that, An unlocking protrusion is provided on the side of the slide rail body facing away from the functional module, and a groove is provided on the unlocking protrusion for the first connecting rod to pass through. An unlocking fixing rod is provided in the groove and passes through the unlocking protrusion. An unlocking slide groove is provided on the end of the first connecting rod away from the unlocking swing arm, which slides with the unlocking fixing rod.

7. The slide rail according to claim 1, wherein The driving mechanism includes a driving motor and an output shaft connected to the driving motor. The driving motor is installed at the bottom of the slide rail body. The output shaft passes through the slide rail body away from the driving motor and is provided with a power output part.

8. The slide rail according to claim 7, wherein The driving motor is slidably connected to the slide rail body, and a return spring is provided between the driving motor and the slide rail body.

9. The slide rail according to claim 7, wherein A pair of mounting plates are provided on the top of the driving motor, and a docking slider is slidably connected between the pair of mounting plates. The pair of mounting plates are fixedly connected to the slide rail body, and the docking slider is connected to the driving motor to hang the driving motor below the pair of mounting plates.

10. The slide rail according to claim 9, wherein, An in-place detection component is further provided on the slide rail. The in-place detection component includes any one of a proximity switch, a Hall inductor, and a magnetic induction switch. The in-place detection component is installed at the limiting end.

11. The slide rail according to claim 1, wherein, The slide rail body includes a bearing plate for carrying objects and a positioning plate extending from one side edge of the bearing plate. A plurality of load-bearing wheels are provided on the bearing plate, and a plurality of first positioning wheels and a plurality of second positioning wheels are provided on the positioning plate. The first positioning wheels and the second positioning wheels press on the objects carried by the bearing plate in two different directions respectively.

12. The slide rail according to claim 11, wherein The positioning plate is vertically provided at one side edge of the bearing plate. The first positioning wheels press on the objects carried by the bearing plate in a direction perpendicular to the bearing plate, and the second positioning wheels press on the objects carried by the bearing plate in a direction perpendicular to the positioning plate; the height of the first positioning wheels is greater than the height of the second positioning wheels.

13. A robot, characterized in that, It includes a chassis, a housing installed on the chassis, and a plurality of interchangeable functional modules; the chassis is provided with a power module and a navigation module for the autonomous navigation and walking of the robot; one end or both ends of the housing are open for accommodating the functional modules. The functional modules are loaded into the housing from the openings of the housing. A plurality of the slide rails according to any one of claims 1-12 are installed on the inner wall of the housing, and the slide rails are arranged in pairs and used for installing the functional modules.

14. The robot according to claim 13, characterized in that, A self-locking groove cooperating with the self-locking mechanism is formed at the bottom of the functional module.

15. The robot according to claim 13, characterized in that, A power supply female socket capable of being plugged and matched with a power supply connector one by one is provided at the bottom of the functional module.

16. The robot according to claim 15, characterized in that, A female socket ring groove is provided on the power supply female socket, and a plurality of power supply sockets are provided at the bottom of the female socket ring groove.

17. A conveying mechanism, characterized in that, For connecting the robot according to any one of claims 13-16 to a preset conveying device, the conveying mechanism includes a load-carrying rack and a synchronous rack that can be coupled to each other. The load-carrying rack is detachably installed on a pair of the slide rails, and the synchronous rack is detachably installed on the preset conveying device. The preset conveying device is used for transporting the functional modules. The load-carrying rack and the synchronous rack are respectively provided with a first synchronous belt mechanism and a second synchronous belt mechanism. The functional modules are transferred between the preset conveying device and a pair of the slide rails of the robot through the first synchronous belt mechanism and the second synchronous belt mechanism.

18. A robot load docking system, characterized in that, It includes the conveying mechanism according to claim 17 above and the robot according to any one of claims 13-16.

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