A hanging rail type mobile charging robot

Abstract

The application relates to the technical field of charging robots, and discloses a hanging rail type mobile charging robot which comprises a rail, a carrying trolley, a charging pile, a station module and a clamping mechanism. The carrying trolley is arranged on the rail and can walk along the rail. A first guide rail is arranged on the carrying trolley and extends along the horizontal direction and is perpendicular to the rail. A roller is arranged on the charging pile, the roller is supported by the first guide rail and is in rolling connection with the first guide rail. The station module is connected with the rail and is provided with a second guide rail, the second guide rail can be coaxially connected with the first guide rail. The clamping mechanism is arranged on the carrying trolley and comprises a driving unit and two clamping components. The driving unit is used for driving the two clamping components to clamp the opposite sides of the connecting rail respectively. In this way, even if the load weight of the charging pile is large, the first guide rail and the second guide rail are not easy to deform, and meanwhile, the rigidity between the carrying trolley and the station module is not insufficient, the charging pile and the station module are not inaccurate in docking, and the charging pile cannot complete the charging pile taking and placing tasks.

Description

Technical Field

[0001] This invention relates to the field of charging robot technology, and in particular to a rail-mounted mobile charging robot. Background Technology

[0002] With the rapid development of the new energy vehicle industry, the number of charging piles is increasing year by year. The existing charging mode is mostly to install one charging pile per parking space, resulting in low utilization efficiency of charging piles; in order to reduce construction costs and grid pressure, rail-mounted mobile charging robots are gradually emerging.

[0003] Currently, existing rail-mounted mobile charging robots include a track, a transport trolley, a charging pile, and a station module. The station module is fixed on the track and perpendicular to the track in the horizontal direction, and the station module is the power source for the charging pile. The transport trolley can move on the track, and the charging pile can be movably mounted on the transport trolley. One station module can be reserved above each parking space. When a new energy vehicle in a parking space needs charging, the transport trolley is controlled to move along the track, transport the charging pile to the station module, and perform the task of placing the charging pile, thus completing the docking between the charging pile and the station module.

[0004] Existing rail-mounted mobile charging robots typically use a two-stage telescopic mechanism to retrieve or place charging piles. Specifically, the two-stage telescopic mechanism includes a drive unit, a primary first guide rail, and a secondary first guide rail. The primary first guide rail is fixed to a transport trolley, and the secondary first guide rail slides along and is connected to the charging pile. The drive unit drives the secondary first guide rail to slide along the primary first guide rail, thus extending the charging pile from the transport trolley to dock with the station module, completing the charging pile placement task. However, during the retrieval and placement of charging piles, if the charging pile has a high charging power (i.e., a heavy load), the two-stage telescopic mechanism will deform significantly. This will also cause a shift in the center of gravity of the transport trolley. Furthermore, insufficient rigidity between the transport trolley and the station module can lead to inaccurate docking of the charging pile, preventing the proper retrieval and placement of the charging pile. Summary of the Invention

[0005] One of the main objectives of this invention is to provide a rail-mounted mobile charging robot, which aims to solve the problem that when a rail-mounted mobile charging robot performs the task of picking up and placing charging piles, if the load weight of the charging pile is large, it will cause large deformation of the secondary telescopic mechanism, and at the same time cause the center of gravity of the transport trolley to change. Furthermore, due to insufficient rigidity between the transport trolley and the station module, the docking between the charging pile and the station module is inaccurate, and the task of picking up and placing charging piles cannot be completed normally.

[0006] To achieve the above objectives, the present invention provides a rail-mounted mobile charging robot, comprising:

[0007] track;

[0008] A transport trolley is mounted on the track and can travel along the track. The transport trolley is provided with a first guide rail, which extends horizontally and is perpendicular to the track.

[0009] A charging pile is installed on the transport trolley. The charging pile is equipped with a roller assembly, which includes multiple rollers. The multiple rollers are arranged in a row along the extension direction of the first guide rail. The multiple rollers are supported by the first guide rail and are tactilely connected to the first guide rail.

[0010] The connecting rail extends horizontally and is perpendicular to the track, with one end of the connecting rail fixedly connected to the track;

[0011] The station module is fixedly connected to the other end of the connecting rail. The station module is provided with a second guide rail, which can be coaxially connected with the first guide rail.

[0012] At least one clamping mechanism is provided on the transport trolley. The at least one clamping mechanism includes a drive unit and two clamping components. The clamping components are slidably disposed on the transport trolley. The drive unit is used to drive the two clamping components to clamp the opposite sides of the connecting rail respectively.

[0013] A drive assembly, connected to the charging pile drive, is used to drive the charging pile so that the roller rolls from the first guide rail to the second guide rail or from the second guide rail to the first guide rail.

[0014] Furthermore, the two clamping assemblies are arranged in a figure-eight shape. Each clamping assembly includes a first guide rail and a sliding assembly. The first guide rail is disposed on the transport trolley, and the sliding assembly is slidably disposed on the first guide rail. The driving unit is drivenly connected to the sliding assembly to drive the two sliding assemblies to clamp the opposite sides of the connecting rail. In the state where the two sliding assemblies clamp the connecting rail, the two clamping assemblies are symmetrical about the connecting rail.

[0015] Furthermore, the driving unit includes an electric push rod, the telescopic end of which is hinged to the sliding component of one of the clamping components, and the fixed end of which is hinged to the sliding component of another clamping component; when the telescopic end of the electric push rod retracts to its own limit retraction position, the sliding component moves along the first guide rail to a first limit position and abuts against a first limiting post located at the first limit position, and the sliding component clamps the connecting rail; when the telescopic end of the electric push rod extends to its own limit extension position, the sliding component moves along the first guide rail to a second limit position and abuts against a second limiting post located at the second limit position;

[0016] The first limiting post, the second limiting post and the first guide rail are located on the same plane, and the first limiting post and the second limiting post are perpendicular to the first guide rail.

[0017] Furthermore, the clamping mechanism also includes at least two L-shaped connecting blocks, each L-shaped connecting block corresponding to one of the two clamping components. Each L-shaped connecting block includes a connecting portion and a limiting portion. The connecting portions of the two L-shaped connecting blocks are respectively fixed to the opposite side walls of the connecting rail. A limiting groove adapted to the limiting portion is provided on the end face of the sliding component facing the L-shaped connecting block.

[0018] Furthermore, an inclined portion is provided between the limiting portion and the connecting portion, and the surface of the inclined portion is an inclined surface; wherein, when the two clamping assemblies clamp the connecting rail, the two opposite sides in the limiting groove are respectively used to engage with the inclined surface and the bottom surface of the limiting portion, and the end face of the clamping assembly with the limiting groove is used to press against the side of the connecting portion facing away from the connecting rail.

[0019] Furthermore, the angle between the inclined surface and the limiting part is 30 to 35°; a guide slope is provided on the inclined surface, the angle between the guide slope and the inclined surface is 170 to 175°, and the guide slope is located at the end of the inclined surface away from the connecting part.

[0020] Furthermore, the drive assembly includes a connecting seat and a primary drive structure. The primary drive structure includes a primary gear drive mechanism and a primary rack. The primary rack is horizontally fixed on the charging pile, and the extension direction of the primary rack is parallel to the first guide rail. The primary gear drive mechanism is mounted on the transport trolley through the connecting seat. The primary gear drive mechanism meshes with the primary rack, and the primary gear drive mechanism is used to drive the primary rack to move the charging pile.

[0021] Furthermore, the drive assembly also includes a secondary drive structure, which is mounted on the transport trolley and is used to drive the primary gear drive mechanism to engage or disengage with the primary rack.

[0022] Furthermore, the secondary drive structure includes a secondary gear drive mechanism and a secondary rack. The secondary rack is fixed on the transport trolley, and the extension direction of the secondary rack is the same as that of the primary rack. The connecting seat is slidably disposed on the transport trolley, and the sliding direction of the connecting seat relative to the transport trolley is the same as that of the extension direction of the primary rack. The secondary gear drive mechanism is fixed on the connecting seat, and the secondary gear drive mechanism is drivenly connected to the secondary rack.

[0023] Furthermore, the connecting seat is also horizontally provided with an adjustment device, which includes an inclined guide rail, an adjusting spring, and a fixing block. The inclined guide rail is horizontally provided on the connecting seat and is angled to the first-stage rack. The first-stage gear drive mechanism is slidably connected to the inclined guide rail and can slide along the inclined guide rail. The fixing block is fixed on the connecting seat. The extending direction of the adjusting spring is the same as the extending direction of the inclined guide rail. The opposite ends of the adjusting spring are respectively fixed to the first-stage gear drive mechanism and the fixing block.

[0024] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0025] In use, this invention involves a transport trolley moving along a track to align the charging pile with the station module fixed on the connecting rail. A drive unit then drives two clamping components to clamp the opposite sides of the connecting rail, integrating the transport trolley and the station module and improving their overall rigidity. With the clamping components clamping the opposite sides of the connecting rail, the second guide rail is coaxially connected to the first guide rail, initiating the charging pile placement process. Since multiple rollers on the charging pile are rolled along the first guide rail on the transport trolley and supported by it, the drive components move the charging pile along the extension direction of the connecting rail, causing the rollers to roll from the first guide rail to the second guide rail, thus docking the charging pile with the station module – the charging pile placement task. When the charging pile needs to be retrieved, the drive components move the charging pile along the extension direction of the connecting rail, causing the rollers to roll from the second guide rail to the first guide rail, disengaging the charging pile from the station module, thus retrieving the charging pile.

[0026] In summary, this invention uses an external clamping method to secure the connecting rail, integrating the transport trolley and the station module into a single unit. This improves the overall rigidity of the transport trolley and the station module, preventing inaccurate docking of the charging pile due to insufficient rigidity between them. This provides excellent working conditions for placing and retrieving the charging pile. Simultaneously, a structure employing rollers and a first guide rail in rolling cooperation is used to achieve the task of placing or retrieving the charging pile. In this way, the weight of the charging pile is concentrated on the first and second guide rails, meaning that during the task of placing or retrieving the charging pile, the first and second guide rails support the charging pile. Compared to existing methods that use a two-stage telescopic mechanism, this invention ensures that the first and second guide rails will not easily deform even under heavy loads, thus guaranteeing the successful completion of the charging pile placement and retrieval tasks. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the structure of the rail-mounted mobile charging robot of the present invention;

[0028] Figure 2 This is a schematic diagram of the structure of the clamping assembly in the clamping connection rail state according to an embodiment of the present invention;

[0029] Figure 3 This is a schematic diagram of the structure of the clamping assembly in the state of the connection rail being released, according to an embodiment of the present invention;

[0030] Figure 4 This is a schematic diagram of the structure connecting the track, charging pile, and transport trolley according to an embodiment of the present invention;

[0031] Figure 5 This is a schematic diagram of the structure of the L-shaped connecting block according to an embodiment of the present invention;

[0032] Figure 6 This is a schematic diagram of the clamping block according to an embodiment of the present invention;

[0033] Figure 7 This is a top view of the connection between the track, charging pile, and transport trolley in an embodiment of the present invention;

[0034] Figure 8 This is a schematic diagram of the structure of the transport trolley, station module, and charging pile according to an embodiment of the present invention;

[0035] Figure 9 This is a front view of the rail-mounted mobile charging robot of the present invention;

[0036] Figure 10 for Figure 9 Sectional view at point DD;

[0037] Figure 11This is a schematic diagram illustrating the connection between the connecting rail and the station module according to an embodiment of the present invention;

[0038] Figure 12 This is a schematic diagram of another angle showing the connection between the connecting rail and the station module in an embodiment;

[0039] Figure 13 This is a schematic diagram of the structure of the transport trolley according to an embodiment of the present invention;

[0040] Figure 14 This is a schematic diagram of the structure of a charging pile according to an embodiment of the present invention;

[0041] Figure 15 for Figure 8 Enlarged structural diagram at point A;

[0042] Figure 16 This is a schematic diagram of the structure of the driving component according to an embodiment of the present invention;

[0043] Figure 17 This is a schematic diagram of the driving component from another angle according to an embodiment of the present invention.

[0044] Numbering in each attached figure:

[0045] 1. Track; 2. Connecting rail; 20. L-shaped connecting block; 201. Connecting part; 202. Limiting part; 203. Inclined part; 2031. Inclined surface; 2032. Guide inclined surface; 21. Connecting piece; 3. Transport trolley; 4. Charging pile; 40. Roller; 41. Charging male connector; 5. Clamping mechanism; 50. Drive unit; 51. Clamping assembly; 510. First guide slide rail; 511. Sliding seat; 512. Clamping block; 5120. Limiting groove; 5121. Working surface; 5122. Connecting surface; 513. First limiting post; 514. Second limiting post; 6. Station module; 6 0. Second guide rail; 601. Second guide cone; 61. Charging female connector; 7. First guide rail; 701. First guide cone; 8. Drive assembly; 80. Connecting seat; 801. Second guide slide rail; 81. First-stage gear drive mechanism; 810. First-stage power unit; 8101. Motor mounting seat; 811. First-stage drive gear; 82. First-stage rack; 83. Second-stage gear drive mechanism; 830. Second-stage power unit; 831. Second-stage drive gear; 84. Second-stage rack; 9. Inclined guide rail; 90. Adjusting spring; 91. Fixing block; 92. Tension adjusting component; 93. Stop component. Detailed Implementation

[0046] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0047] In the description of this invention, it should be understood that the terms "width", "upper", "lower", "front", "rear", "top", "bottom", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0048] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, a direct connection, or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0049] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0050] Please refer to Figures 1-17 The present invention provides a rail-mounted mobile charging robot including a rail 1, a connecting rail 2, a transport trolley 3, a charging pile 4, a station module 6, a drive component 8, and at least one clamping mechanism 5.

[0051] The transport trolley 3 is mounted on the track 1 and can move along the track 1. The transport trolley 3 is equipped with a first guide rail 7, which extends horizontally and is perpendicular to the track 1. The first guide rail 7 can be fixed to the transport trolley 3 by welding, which can improve the connection rigidity between the first guide rail 7 and the transport trolley 3. The charging pile 4 is movably mounted on the transport trolley 3. The charging pile 4 is equipped with a set of rollers 40, which includes multiple rollers 40 arranged in a row along the extension direction of the first guide rail 7. The multiple rollers 40 are supported by the first guide rail 7 and are tactilely connected to the first guide rail 7. That is, the transport trolley 3 is mounted on the first guide rail 7 through multiple rollers 40.

[0052] Furthermore, connecting rail 2 extends horizontally and is perpendicular to rail 1, with one end of connecting rail 2 fixedly connected to rail 1. Connecting rail 2 and rail 1 are spatially intersecting perpendicularly, allowing the wheels of the transport trolley 3 to pass through the space between connecting rail 2 and rail 1, thus enabling a single charging pile 4 to move to station modules 6 above different parking spaces. Connecting rail 2 is located above rail 1, on different planes. Connecting rail 2 can be fixedly connected to rail 1 via connector 21, which extends vertically and can be bolted to or welded to rail 1. The position of connector 21 on rail 1 avoids the path of the transport trolley 3 on rail 1, meaning the path of the transport trolley 3 on rail 1 will not interfere with the position of connector 21 on rail 1.

[0053] Of course, the other end of the station module 6 is fixedly connected to the connecting rail 2. A second guide rail 60 is provided on the station module 6, which can be welded to the station module 6, thus improving the connection rigidity between the second guide rail 60 and the station module 6. The second guide rail 60 can be coaxially connected with the first guide rail 7. That is, when the transport trolley 3 transports the charging pile 4 to the location corresponding to the station module 6, the first guide rail 7 on the transport trolley 3 and the second guide rail 60 on the station module 6 are coaxially connected, allowing the roller 40 to roll from the first guide rail 7 to the second guide rail 60 or vice versa. For example, when the transport trolley 3 transports the charging pile 4 to the location corresponding to the station module 6, a sensing element (such as a position sensor) can be provided on the station module 6 to make the second guide rail 60 on the station module 6 coaxially connected with the first guide rail 7. Additionally, a clamping mechanism 5 is mounted on the transport trolley 3. The clamping mechanism 5 includes a drive unit 50 and two clamping assemblies 51. The clamping assemblies 51 are slidably mounted on the transport trolley 3. The drive unit 50 is mounted on the transport trolley 3 and is used to drive the two clamping assemblies 51 to clamp the opposite sides of the connecting rail 2 respectively. The drive assembly 8 is connected to the charging pile 4 and is used to drive the charging pile 4 so that the roller 40 rolls from the first guide rail 7 to the second guide rail 60 or from the second guide rail 60 to the first guide rail 7, thus realizing the picking and placing action of the charging pile 4.

[0054] In use, the rail-mounted mobile charging robot of the present invention moves the transport trolley 3 along the track 1 to move the charging pile 4 to be aligned with the station module 6 fixed on the connecting rail 2. Then, the drive unit 50 drives the two clamping components 51 to clamp the opposite sides of the connecting rail 2 respectively, so that the transport trolley 3 and the station module 6 are integrated, improving the overall rigidity between the transport trolley 3 and the station module 6. With the two clamping components 51 clamping the opposite sides of the connecting rail 2 respectively, the second guide rail 60 is coaxially connected with the first guide rail 7. At this time, the charging pile 4 is placed. Since the multiple rollers 40 on the charging pile 4 are rolledly connected to the first guide rail 7 on the transport trolley 3 and the multiple rollers 40 are guided by the first guide rail 7, the charging pile 4 is placed in the rail. Supported by rail 7, the charging pile 4 is driven by the drive component 8 to move along the extension direction of the connecting rail 2, so that multiple rollers 40 on the charging pile 4 roll from the first guide rail 7 to the second guide rail 60, thereby realizing the task of docking the charging pile 4 with the station module 6, that is, realizing the task of placing the charging pile 4. When it is necessary to perform the task of retrieving the charging pile 4, the driving component 8 drives the charging pile to move along the extension direction of the connecting rail 2, so that multiple rollers 40 roll from the second guide rail 60 to the first guide rail 7, so that the charging pile 4 is disengaged from the station module 6, thus realizing the task of retrieving the charging pile 4. After the task of retrieving the charging pile 4 is completed, the drive unit 50 drives the two clamping components 51 to release the connecting rail 2.

[0055] It should be noted that, regardless of whether the task of placing or removing the charging pile is being performed, the two clamping components 51 are always in the state of clamping the connecting rail 2, so that the transport trolley 3 and the station module 6 are connected as one unit, while ensuring the coaxiality of the first guide rail 7 and the second guide rail 60, providing good working conditions for placing or removing the charging pile 4.

[0056] In summary, this invention uses an external clamping method to secure the connecting rail 2, integrating the transport trolley 3 and the station module 6 into a single unit. This improves the overall rigidity of the transport trolley 3 and the station module 6, preventing inaccurate docking of the charging pile 4 and the station module 6 due to insufficient rigidity. This provides excellent working conditions for the placement and removal of the charging pile 4. Simultaneously, the invention employs a rolling mechanism between the roller 40 and the first guide rail 510 to perform the task of placing or removing the charging pile 4. Thus, the weight of the charging pile 4 is concentrated on the first guide rail 7 and the second guide rail 60. In other words, during the process of placing or removing the charging pile 4, the first guide rail 7 and the second guide rail 60 support the charging pile 4. Compared to existing methods that use a two-stage telescopic mechanism to perform the task of placing or removing the charging pile 4, this invention ensures that the first guide rail 7 and the second guide rail 60 will not easily deform even under heavy loads on the charging pile 4, thereby guaranteeing the successful completion of the task of placing and removing the charging pile 4.

[0057] As one application scenario, a station module 6 is reserved above each parking space. For example, when a new energy vehicle in parking space A needs to be charged, the transport trolley 3 can be controlled to move along the track 1 to transport the charging pile 4 to the station module 6 above parking space A. This makes the first guide rail 7 on the transport trolley 3 coaxially connected with the second guide rail 60 on the station module 6 above parking space A. At this time, the task of placing the charging pile 4 is performed. The driving component 8 drives the charging pile 4, causing multiple rollers 40 to roll from the first guide rail 7 to the second guide rail 60, thus realizing the task of docking the charging pile 4 with the station module 6, which is to say, realizing the task of placing the charging pile 4. When it is necessary to perform the action of retrieving the charging pile 4, the driving component 8 drives the charging pile 4, causing multiple rollers 40 to roll from the second guide rail 60 to the first guide rail 7, thus detaching the charging pile 4 from the station module 6, thereby realizing the task of retrieving the charging pile 4.

[0058] It should be noted that the connection between the charging pile 4 and the station module 6 means that the male charging connector 41 on the charging pile 4 and the female charging connector 61 on the station module 6 are plugged in and connected, so that the charging pile 4 and the station module 6 are electrically connected.

[0059] In one embodiment, for example, two first guide rails 7 and two second guide rails 60 are provided. With the connecting rail 2 as the reference, the two first guide rails 7 are symmetrically mirrored about the connecting rail 2, and the two second guide rails 60 are symmetrically mirrored about the connecting rail 2. Of course, four first guide rails 7 and four second guide rails 60 are provided, which is not limited here.

[0060] In one embodiment, the two clamping components 51 clamp the opposite sides of the connecting rail 2 in a figure-eight shape. Specifically, the following describes how the two clamping components 51 clamp the connecting rail 2 in a figure-eight shape: The clamping component 51 includes a first guide rail 510 and a sliding component. The first guide rail 510 is fixed to the transport trolley 3 and is angled to the transport trolley 3. The first guide rail 510 of one clamping component 51 and the first guide rail 510 of the other clamping component 51 form a figure-eight structure. With the connecting rail 2 as a reference, the first guide rail 510 of one clamping component 51 and the first guide rail 510 of the other clamping component 51 are symmetrically mirrored about the connecting rail 2. The sliding component is slidably disposed on the first guide rail 510 so that the two sliding components can clamp the opposite sides of the connecting rail 2 respectively. With the connecting rail 2 as the reference, the two sliding components are also set symmetrically and mirror-imagely about the connecting rail 2; by driving the two sliding components to slide along the two first guide rails 510 respectively through the driving unit 50, the two sliding components can clamp the opposite sides of the connecting rail 2.

[0061] In one embodiment, reference is made to Figure 2 or Figure 3The sliding assembly includes a sliding seat 511 and a clamping block 512. The sliding seat 511 is slidably disposed on the first guide rail 510. When the clamping block 512 clamps the connecting rail 2, the clamping block 512 is fixed to the end of the sliding seat 511 near the connecting rail 2. Thus, the driving unit 50 drives the two sliding seats 511 to slide along the two first guide rails 510 respectively, so that the two clamping blocks 512 can clamp the opposite sides of the connecting rail 2.

[0062] In one embodiment, reference is made to Figure 3 The clamping mechanism 5 also includes at least two L-shaped connecting blocks 20, each corresponding to one of the two clamping components 51, and the two L-shaped connecting blocks 20 are symmetrically mirrored about the connecting rail 2; see reference Figure 5 The L-shaped connecting block 20 includes an integrally connected connecting portion 201 and a limiting portion 202. The connecting portions 201 of the two L-shaped connecting blocks 20 are respectively fixed to the opposite side walls of the connecting rail 2. The connecting rail 2 and the connecting portion 201 can be fixed by welding or bolts. A limiting groove 5120 adapted to the limiting portion 202 is formed on the end face of the sliding component facing the L-shaped connecting block 20. The limiting groove 5120 is formed on the end face of the clamping block 512 facing the connecting rail 2. Therefore, by integrating the connecting portion 201 of the L-shaped connecting block 20 with the connecting rail 2, and then driving the clamping component 51 along the first guide rail 510 via the driving unit 50, the limiting groove 5120 on the clamping component 51 is inserted into the limiting portion 202 of the L-shaped connecting block 20. This increases the friction between the clamping component 51 and the connecting rail 2, further enhancing the clamping force of the two clamping components 51 on the connecting rail 2.

[0063] In one embodiment, reference is made to Figures 2-6An inclined portion 203 is provided between the limiting portion 202 and the connecting portion 201. The two opposite ends of the inclined portion 203 are connected to the connecting portion 201 and the limiting portion 202 respectively. The surface of the inclined portion 203 is an inclined surface 2031. When the two clamping components 51 clamp the connecting rail 2, the two opposite sides of the limiting groove 5120 respectively engage with the inclined surface 2031 and the bottom surface of the limiting portion 202. The end face of the clamping component 51 with the limiting groove 5120 abuts against the side of the connecting portion 201 facing away from the connecting rail 2. In other words, the limiting groove 5120 has a "V" shaped structure. The end face of the clamping block 512 facing the connecting rail 2 is designated as the working surface 5121, and the end face of the clamping block 512 facing away from the connecting rail 2 is designated as the connecting surface 5122. Thus, the limiting groove 5120 extends from the working surface 5121 towards the connecting surface 5122. Of course, the limiting groove 5120 does not penetrate the connecting surface 5122. Therefore, when the clamping block 512 clamps the connecting rail 2, the working surface 5121 of the clamping block 512 abuts against the connecting part 201, and the two opposite sides of the limiting groove 5120 respectively engage with the inclined surface 2031 and the bottom surface of the limiting part 202, thereby greatly increasing the clamping force of the clamping block 512 on the connecting rail 2, and further improving the overall rigidity between the transport trolley 3 and the station module 6.

[0064] In one embodiment, reference is made to Figure 5 The angle formed between the inclined surface 2031 and the limiting part 202 is A, which is 30° to 35°. In this embodiment, the angle formed between the inclined surface 2031 and the limiting part 202 is 30°, which reduces the output force of the drive unit 50. Of course, in other embodiments, the angle formed between the inclined surface 2031 and the limiting part 202 can also be 35°. In addition, it should be noted that the angle formed between the inclined surface 2031 and the limiting part 202 cannot exceed 45°. If it exceeds 45°, the clamping block 512 will not be able to clamp the connecting rail 2, resulting in insufficient rigidity between the station module 6 and the transport trolley 3. At the same time, it will greatly increase the output force of the drive unit 50, and may even damage the drive unit 50 due to excessive output force.

[0065] In one embodiment, a guide slope 2032 is provided on the inclined surface 2031, as shown in the figure. Figure 5 The angle formed between the inclined surface and the inclined surface 2031 is B, which is 170° to 175°. The guide inclined surface 2032 is located at the end of the inclined surface 2031 away from the connecting part 201. That is to say, the guide inclined surface 2032 can facilitate the upper surface of the limiting groove 5120 to slide into the inclined surface 2031 and engage with it, and at the same time, it can also help to improve the engagement force of the limiting groove 5120 on the inclined part 203 and the limiting part 202.

[0066] In one embodiment, reference is made to Figure 2 , Figure 3 The drive unit 50 includes an electric push rod. The telescopic end of the electric push rod is hinged to the sliding component of a clamping assembly 51, that is, the telescopic end of the electric push rod is hinged to the sliding seat 511. The fixed end of the electric push rod is hinged to the sliding component of another clamping assembly 51, that is, the fixed end of the electric push rod is hinged to the sliding seat 511 of another clamping assembly 51. When the clamping assembly 51 clamps the connecting rail 2, the electric push rod is in a horizontal state. When the clamping assembly 51 disengages from the connecting rail 2, the electric push rod is also in a horizontal state. Specifically, when the telescopic end of the electric push rod is in its retracted limit state (meaning the telescopic end of the electric push rod is in its retracted limit extended position), the two clamping components 51 clamp the connecting rail 2; when the telescopic end of the electric push rod is in its extended state, the two clamping components 51 loosen the connecting rail 2; when the telescopic end of the electric push rod is in its extended limit state (meaning the telescopic end of the electric push rod is in its extended limit extended position), if the transport trolley 3 moves along the track 1 and drives the clamping mechanism 5 to move, the clamping components 51 will not interfere with the connecting rail 2, thereby enabling the transport trolley 3 to move the clamping mechanism 5 from one station module 6 to another station module 6.

[0067] It should be noted that when the telescopic end of the electric actuator retracts to its own limit retraction position, the sliding component moves along the first guide rail 510 to the first limit position (the position reached when the telescopic end of the electric actuator retracts to its own limit retraction position, causing the sliding component to move along the extension direction of the first guide rail 510) and abuts against the first limiting post 513 located at the first limit position; when the telescopic end of the electric actuator extends to its own limit extension position, the sliding component moves along the first guide rail 510 to the second limit position (the position reached when the telescopic end of the electric actuator extends to its own limit extension position, causing the sliding component to move along the extension direction of the first guide rail 510) and abuts against the second limiting post 514 located at the second limit position. The second limiting post 514, the first limiting post 513, and the first guide rail 510 are located on the same plane, and the first limiting post 513 is perpendicular to the first guide rail 510, and the second limiting post 514 is perpendicular to the first guide rail 510.

[0068] During the extension of the telescopic end of the electric push rod, when the sliding seat 511 in one clamping assembly 51 slides down along the first guide slide rail 510 in the clamping assembly 51 and comes into contact with the second limiting post 514 fixed on the first guide slide rail 510 in the clamping assembly 51, the second limiting post 514 restricts the sliding seat 511 from continuing to slide down along the first guide slide rail 510. As the telescopic end of the electric push rod continues to extend, the sliding seat 511 in the other clamping assembly 51 slides down along the first guide slide rail 510 in the other clamping assembly 51. When the sliding seat 511 in the other clamping assembly 51 slides down along the first guide slide rail 510 in the other clamping assembly 51 and comes into contact with the second limiting post 514 fixed on the first guide slide rail 510 in the other clamping assembly 51, the telescopic end of the electric push rod is just at its limit extension position, and the electric push rod is in a horizontal state.

[0069] Similarly, during the retraction of the telescopic end of the electric actuator, when the sliding seat 511 in one clamping assembly 51 slides along the first guide rail 510 in the clamping assembly 51 to abut against the first limiting post 513 fixed on the first guide rail 510 in the clamping assembly 51, the limiting groove 5120 in the clamping assembly 51 just engages with the limiting part 202 and the inclined part 203 in the clamping assembly 51. At the same time, the working surface 5121 on the clamping block 512 in the clamping assembly 51 also just abuts against the connecting part 201 on the L-shaped connecting block 20. As the telescopic end of the electric actuator continues to retract, the sliding seat 511 in the other clamping assembly 51 slides along the first guide rail 510 in the other clamping assembly 51. As the guide slide rail 510 slides upward, when the sliding seat 511 in the other clamping assembly 51 slides upward along the first guide slide rail 510 in the other clamping assembly 51 to abut against the first limiting post 513 fixed on the first guide slide rail 510 in the other clamping assembly 51, the limiting groove 5120 in the other clamping assembly 51 just engages with the limiting part 202 and the inclined part 203 in the other clamping assembly 51. At the same time, the working surface 5121 on the clamping block 512 in the other clamping assembly 51 also just abuts against the connecting part 201 on the other L-shaped connecting block 20. When the telescopic end of the electric push rod is just at the limit retraction position of the telescopic rod of the electric push rod, the electric push rod is in a horizontal state, and the two clamping assemblies 51 clamp the connecting rail 2.

[0070] In summary, using one drive unit 50 can simultaneously drive two clamping components 51 to clamp the connecting rail 2, which not only saves the installation space of the drive unit 50, but also saves the cost of the drive unit 50, thereby reducing the overall size and manufacturing cost of the rail-mounted mobile charging robot of the present invention.

[0071] In other embodiments, the electric actuator may be replaced by a pneumatic cylinder or a hydraulic cylinder, which is not limited here.

[0072] It should be noted that, based on the connecting rail 2, the two first guide rails 7 are symmetrically mirrored about the connecting rail 2, the two second guide rails 60 are also symmetrically mirrored about the connecting rail 2, and the two clamping components 51 are also symmetrically mirrored about the connecting rail 2. Moreover, the two clamping components 51 are driven by an electric push rod to clamp the connecting rail 2. Therefore, after the electric push rod drives the two clamping components 51 to clamp the connecting rail 2, the first guide rail 7 and the second guide rail 60 automatically become coaxial, thereby avoiding the need to use a sensor to ensure that the first guide rail 7 and the second guide rail 60 are coaxial, thus saving costs.

[0073] In one embodiment, reference is made to Figure 7 There are two clamping mechanisms 5, which are located on opposite sides of the track 1, so that there are clamping mechanisms 5 on both sides of the track 1. After the clamping mechanism 5 completes clamping, the transport trolley 3 and the connecting rail 2 become a whole. Because there are clamps on both sides of the track 1, the bending and torsion resistance is strong, and the overall deformation is small when transporting high-power modules, i.e., heavy modules.

[0074] In one embodiment, a first guide cone 701 is provided at the connection end between the first guide rail 7 and the second guide rail 60, and the first guide cone 701 extends along the axial direction of the first guide rail 7; similarly, a second guide cone 601 is provided at the connection end between the second guide rail 60 and the first guide rail 7, and the second guide cone 601 extends along the axial direction of the second guide rail 60. Therefore, the connection between the first guide cone 701 and the second guide cone 601 is achieved, ensuring that the roller 40 can smoothly transition from the first guide rail 7 to the second guide rail 60, or vice versa.

[0075] In one embodiment, there are two drive components 8. With the connecting rail 2 as the reference, the two drive components 8 are mirror symmetrical about the connecting rail 2. That is, the power is symmetrically arranged on opposite sides of the station module 6 to provide good push and pull forces for the charging pile 4 to pick up and put down the pile, ensuring the smoothness of the process of picking up and putting down the charging pile 4. At the same time, when the charging pile 4 is picked up and put down, the uniformity of the output force for picking up or putting down the pile is ensured.

[0076] In one embodiment, reference is made to Figure 8 , Figure 15 , Figure 16 and Figure 17The drive assembly 8 includes a connecting seat 80 and a primary drive structure. The primary drive structure includes a primary gear drive mechanism 81 and a primary rack 82. The primary rack 82 is fixed to the charging pile 4 by bolts, and its extension direction is parallel to the first guide rail 7. The primary drive structure is mounted on the transport trolley 3 via the connecting seat 80. The primary gear drive mechanism 81 meshes with the primary rack 82 to drive the primary rack 82, causing the charging pile 4 to move along the extension direction of the connecting rail 2, allowing the charging pile 4 to dock with the station module 6.

[0077] In one embodiment, reference is made to Figure 8 , Figure 10 and Figures 15-17 The primary gear drive mechanism 81 includes a primary power unit 810 and a primary drive gear 811. The primary power unit 810 is a drive motor and is mounted on the transport trolley 3. The output end of the primary power unit 810 is connected to the primary drive gear 811. The primary drive gear 811 meshes with a primary rack 82. The primary power unit 810 drives the primary drive gear 811 to rotate, which in turn drives the primary rack 82 to move along the extension direction of the connecting rail 2. In other words, when a pile placement action is required, the primary power unit 810 drives the primary rack 82 to extend the charging pile 4 from the transport trolley 3 and move it to dock with the station module 6; when a pile retrieval action is required, the primary power unit 810 drives the primary rack 82 to disengage the charging pile 4 from the station module 6 and move it back onto the transport trolley 3.

[0078] Of course, in other embodiments, the primary gear drive mechanism 81 may also include a primary power unit 810 and multiple meshing primary drive gears 811, which is not limited here. Therefore, by reasonably changing the structure of the primary gear drive mechanism 81, it should also fall within the protection scope of the present invention.

[0079] Based on the above structure, referring to Figure 8 , Figure 10 and Figures 15-17The drive assembly 8 also includes a secondary drive structure mounted on the transport trolley 3. This secondary drive structure drives the primary gear drive mechanism 81 to engage or disengage with the primary rack 82. Because the primary drive gear 811 engages with the primary rack 82, it occupies a certain distance of the rack. Since the rack 82 is fixed to the charging pile 4, the engagement of the primary drive gear 811 and rack 82 cannot allow the charging pile 4 to fully extend out of or fully retract onto the transport trolley 3. Therefore, the secondary drive structure drives the primary drive gear 811 of the primary gear drive mechanism 81 to engage or disengage with the primary rack 82, allowing the charging pile 4 to fully extend out of or fully retract onto the transport trolley 3.

[0080] In one embodiment, reference is made to Figure 8 , Figure 10 and Figures 15-17 The secondary drive structure includes a secondary gear drive mechanism 83 and a secondary rack 84. The secondary rack 84 is fixed to the transport trolley 3, and its extension direction is the same as that of the primary rack 82. The secondary gear drive mechanism 83 is slidably mounted on the transport trolley 3. Specifically, the secondary gear drive mechanism 83 is fixed to a connecting seat 80, which in turn is slidably mounted on the transport trolley 3. A second guide rail 801 is horizontally fixed on the transport trolley 3. The extension direction of the second guide rail 801 is parallel to that of the secondary rack 84, and the second guide rail 801 and the secondary rack 84 are located on the same plane. Thus, the connecting seat 80 is slidably connected to the second guide rail 801 via a slider, so that the sliding direction of the secondary gear drive mechanism 83 relative to the transport trolley 3 is the same as the extension direction of the primary rack 82. Of course, the secondary gear drive mechanism 83 and the secondary rack 84 are driven together. Therefore, it can be understood that during the meshing transmission of the secondary gear drive mechanism 83 and the secondary rack 84, the connecting seat 80 slides along the second guide rail 801, causing the secondary gear drive mechanism 83 to slide along the second guide rail 801, thereby driving the charging pile 4 to be fully pushed out of the transport trolley 3 or fully retracted onto the transport trolley 3. When the charging pile 4 is fully pushed out of the transport trolley 3 and docked with the station module 6, the primary drive gear 811 can disengage from the primary rack 82. When the pile retrieval action needs to be performed, as long as the meshing transmission of the secondary gear drive mechanism 83 and the secondary rack 84 drives the secondary gear drive mechanism 83 to extend a short distance from the transport trolley 3 along the extension direction of the primary rack 82, the primary drive gear 811 can hook onto the primary rack 82, realizing the meshing of the primary gear drive mechanism 81 and the primary rack 82, completing the pile retrieval and placement action of the charging pile 4, with rapid transmission.

[0081] In one embodiment, reference is made to Figure 8 , Figure 15 , Figure 16 and Figure 17 The connecting seat 80 is slidably mounted on the transport trolley 3. The sliding direction of the connecting seat 80 relative to the transport trolley 3 is the same as the extension direction of the first-stage rack 82 or the second-stage rack 84. The second-stage gear drive mechanism 83 is fixed on the connecting seat 80. That is, the second-stage gear drive mechanism 83 is slidably connected to the second guide rail 801 mentioned above through the connecting seat 80. The meshing transmission between the second-stage gear drive mechanism 83 and the second-stage rack 84 drives the connecting seat 80 to move along the extension direction of the first-stage rack 82, thereby driving the second-stage gear drive mechanism 83 to move along the extension direction of the first-stage rack 82.

[0082] In one embodiment, reference is made to Figure 8 , Figure 15 , Figure 16 and Figure 17 The secondary gear drive mechanism 83 includes a secondary power unit 830 and a secondary drive gear 831. The secondary power unit 830 is a drive motor. The secondary power unit 830 is fixed on the connecting seat 80. The output end of the secondary power unit 830 is driven by the secondary drive gear 831. The secondary drive gear 831 meshes with the secondary rack 84.

[0083] Of course, in other embodiments, the secondary gear drive mechanism 83 may also include a secondary power unit 830 and multiple meshing secondary drive gears 831, which is not limited here. Therefore, by reasonably changing the structure of the secondary gear drive mechanism 83, it should also fall within the protection scope of the present invention.

[0084] In one embodiment, reference is made to Figure 8 , Figures 15-17 The connecting seat 80 is also equipped with a horizontally adjustable device, which automatically adjusts the primary gear drive mechanism 81 to ensure that it always meshes with the primary rack 82. In other words, because there is an installation error in the primary drive gear 811, the adjustable device allows the primary drive gear 811 to float in its radial direction, thus ensuring that the primary drive gear 811 always meshes with the primary rack 82. This eliminates the installation error of the primary drive gear 811 and avoids damage to the primary power unit 810 due to excessive output torque caused by the primary drive gear 811 not being fully meshed with the primary rack 82.

[0085] In one embodiment, reference is made to Figure 8 , Figures 15-17The adjustment device includes an inclined guide rail 9, which is horizontally mounted on the connecting seat 80. The inclined guide rail 9 is angled to the primary rack 82. The primary gear drive mechanism 81 is slidably connected to the inclined guide rail 9, allowing the primary gear drive mechanism 81 to slide along the inclined guide rail 9. Furthermore, the adjustment device also includes an adjusting spring 90 and a fixing block 91. The fixing block 91 is fixed to the connecting seat 80. The extending direction of the adjusting spring 90 is the same as the extending direction of the inclined guide rail 97. The opposite ends of the adjusting spring 90 are respectively fixed to the primary gear drive mechanism 81 and the fixing block 91. Specifically, the primary gear drive mechanism 81 is connected and fixed to the adjusting spring 90 via the motor mounting base 8101. Of course, the motor mounting base 8101 is slidably connected to the inclined guide rail 9 via a slider. Thus, when the primary drive gear 811 meshes with the primary rack 82 and is subjected to force, the primary drive gear 811 can float in its radial direction under the action of the adjusting spring 90, automatically adapting to mesh with the primary rack 82. This ensures that the primary drive gear 811 can always mesh with the primary rack 82, reducing the processing difficulty of the primary drive gear 811 and providing sufficient push and pull force for the charging pile 4 to pick up and place the pile, thereby ensuring that the task of picking up and placing the charging pile 4 can be completed smoothly.

[0086] In addition, refer to Figure 15 The adjusting device also includes a stop 93, which is disposed on the connecting seat 80. The stop 93 is used to prevent the primary gear drive mechanism 81 from disengaging from the inclined guide rail 9. The stop 93 and the fixing block 91 are located at opposite ends of the inclined guide rail 9. The stop 93 can prevent the primary gear drive mechanism 81 from disengaging from the inclined guide rail 9. At the same time, the stop 93 also restricts the primary gear drive mechanism 81 from pulling the adjusting spring 90, thus preventing damage to the adjusting spring 90 and extending its service life.

[0087] In one embodiment, reference is made to Figure 15 or Figure 16 A tension adjustment component 92 is also threadedly connected to the fixed block 91. The extension direction of the tension adjustment component 92 is the same as the extension direction of the inclined guide rail 9. The end of the adjusting spring 90 facing away from the motor mounting base 8101 is connected and fixed to the adjustment component. In this way, the elastic extension of the adjusting spring 90 can be adjusted by the threaded connection between the tension adjustment component 92 and the fixed block 91, so as to achieve the effect of adjusting the tension.

[0088] Specifically, the fixing block 91 has threaded holes that pass through its opposite sides. The extension direction of the threaded holes is the same as the extension direction of the inclined guide rail 9. The tension adjustment component 92 is threadedly connected to the threaded holes, and the end of the adjusting spring 90 facing away from the motor fixing seat 8101 is located in the threaded hole and connected and fixed to the tension adjustment component 92. In this way, the tension of the spring 90 can be adjusted.

[0089] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A rail-mounted mobile charging robot, characterized in that, include: track; A transport trolley is mounted on the track and can travel along the track. The transport trolley is provided with a first guide rail, which extends horizontally and is perpendicular to the track. A charging pile is movably mounted on the transport trolley. The charging pile is equipped with a roller assembly, which includes multiple rollers arranged in a row along the extension direction of the first guide rail. The multiple rollers are supported by the first guide rail and are rotatably connected to the first guide rail. The connecting rail extends horizontally and is perpendicular to the track, with one end of the connecting rail fixedly connected to the track; The station module is fixedly connected to the other end of the connecting rail. The station module is provided with a second guide rail, which can be coaxially connected with the first guide rail. At least one clamping mechanism is provided on the transport trolley. The clamping mechanism includes a drive unit and two clamping components. The clamping components are slidably disposed on the transport trolley. The drive unit is drivenly connected to the two clamping components and is used to drive the two clamping components to clamp the opposite sides of the connecting rail respectively. A drive assembly, connected to the charging pile drive, is used to drive the charging pile so that the roller rolls from the first guide rail to the second guide rail or from the second guide rail to the first guide rail; The two clamping assemblies are arranged in a figure-eight shape. Each clamping assembly includes a first guide rail and a sliding assembly. The first guide rail is mounted on the transport trolley, and the sliding assembly is slidably mounted on the first guide rail. The driving unit is driven to connect with the sliding assembly to drive the two sliding assemblies to clamp the opposite sides of the connecting rail. In the state where the two sliding assemblies clamp the connecting rail, the two clamping assemblies are symmetrical about the connecting rail. The drive unit includes an electric push rod, the telescopic end of which is hinged to the sliding component of a clamping assembly, and the fixed end of which is hinged to the sliding component of another clamping assembly. When the telescopic end of the electric push rod retracts to its own limit retraction position, the sliding component moves along the first guide rail to the first limit position and abuts against the first limiting post located at the first limit position, and the sliding component clamps the connecting rail. When the telescopic end of the electric push rod extends to its own limit extension position, the sliding component moves along the first guide rail to the second limit position and abuts against the second limiting post located at the second limit position; Wherein, the first limiting post, the second limiting post and the first guide rail are located on the same plane, and the first limiting post and the second limiting post are perpendicular to the first guide rail respectively; The clamping mechanism further includes at least two L-shaped connecting blocks, each L-shaped connecting block corresponding to one of the two clamping components. Each L-shaped connecting block includes a connecting portion and a limiting portion. The connecting portions of the two L-shaped connecting blocks are respectively connected and fixed to the opposite side walls of the connecting rail. A limiting groove adapted to the limiting portion is provided on the end face of the sliding component facing the L-shaped connecting block.

2. The rail-mounted mobile charging robot according to claim 1, characterized in that, The limiting part is connected to the connecting part by an inclined part, the surface of which is an inclined surface; the two opposite sides in the limiting groove are respectively used to engage with the inclined surface and the bottom surface of the limiting part, and the end face of the clamping assembly with the limiting groove is used to press against the side of the connecting part facing away from the connecting rail.

3. The rail-mounted mobile charging robot according to claim 2, characterized in that, The angle between the inclined surface and the limiting part is 30 to 35°; a guide slope is provided on the inclined surface, the angle between the guide slope and the inclined surface is 170 to 175°, and the guide slope is located at the end of the inclined surface away from the connecting part.

4. The rail-mounted mobile charging robot according to claim 1, characterized in that, The drive assembly includes a connecting seat and a primary drive structure. The primary drive structure includes a primary gear drive mechanism and a primary rack. The primary rack is horizontally fixed on the charging pile, and the extension direction of the primary rack is parallel to the first guide rail. The primary gear drive mechanism is mounted on the transport trolley through the connecting seat. The primary gear drive mechanism meshes with the primary rack, and the primary gear drive mechanism is used to drive the primary rack to move the charging pile.

5. The rail-mounted mobile charging robot according to claim 4, characterized in that, The drive assembly also includes a secondary drive structure, which is mounted on the transport trolley and is used to drive the primary gear drive mechanism to engage or disengage with the primary rack.

6. The rail-mounted mobile charging robot according to claim 5, characterized in that, The secondary drive structure includes a secondary gear drive mechanism and a secondary rack. The secondary rack is fixed on the transport trolley, and the extension direction of the secondary rack is the same as that of the primary rack. The connecting seat is slidably disposed on the transport trolley, and the sliding direction of the connecting seat relative to the transport trolley is the same as the extension direction of the primary rack. The secondary gear drive mechanism is fixed on the connecting seat, and the secondary gear drive mechanism is drivenly connected to the secondary rack.

7. The rail-mounted mobile charging robot according to claim 4, characterized in that, An adjustment device is also horizontally arranged on the connecting seat. The adjustment device includes an inclined guide rail, an adjusting spring, and a fixing block. The inclined guide rail is horizontally arranged on the connecting seat and is angled to the first-stage rack. The first-stage gear drive mechanism is slidably connected to the inclined guide rail and can slide along the inclined guide rail. The fixing block is fixed on the connecting seat. The extending direction of the adjusting spring is the same as the extending direction of the inclined guide rail. The opposite ends of the adjusting spring are respectively fixed to the first-stage gear drive mechanism and the fixing block.

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