A charging device and charging method for preventing track deviation

Abstract

The present application discloses a charging device and a charging method for preventing deflection of the track. The charging device includes a fixed structure, which is arranged between two track robots, including a main body and a clamping mechanism, wherein the first end of the main body abuts against the bottom surface of the moving guide rail, and the second end of the main body is provided with a first magnetic line; a limiting structure, which is arranged on the track robot around the roller, including a limiting block and a fixed guide column, wherein the limiting block is arranged on the peripheral side of the roller, the fixed guide column is fixedly connected to the limiting block, and a second magnetic line corresponding to the first magnetic line is arranged in the fixed guide column, and the first magnetic line and the second magnetic line realize the charging of the track robot on the moving guide rail. The present application ensures that the track robot will not deflect during the charging process by setting a limiting structure, and reduces the production cost and complexity by designing the clamping mechanism, and realizes the efficient charging function by using the magnetic line.

Description

Technical Field

[0001] The present application relates to the field of charging technology, and in particular to a charging device and a charging method thereof for preventing deviation from track. Background Art

[0002] With the development of science and technology, smart home products are becoming more and more popular, especially track robots, which are an important device to improve the convenience of home life and are favored by more and more consumers. Track robots are usually used to automatically open and close curtains, and can be adjusted according to user needs and ambient light, providing a good user experience. However, existing track robots still have some significant defects during charging and operation, which affects their reliability and user experience.

[0003] Many existing rail robots are not designed with full consideration of the positioning problem during the charging process. When charging, the rail robot needs to be precisely docked with the charging base or charging track to ensure charging efficiency. However, due to its inadequate structural design, the robot often shifts position during the charging process, resulting in poor contact and affecting the charging effect. The off-track phenomenon not only increases the charging time, but in some cases may even cause the rail robot to be unable to complete charging, which directly affects its subsequent normal use. Due to the shape restrictions of the guide rail, the rail robot is also easily affected by the shape of the guide rail during operation, resulting in uneven operation and even jamming. These problems not only affect the performance of the rail robot, but also reduce the user experience. Summary of the invention

[0004] The purpose of the present application is to provide a charging device and a charging method thereof that can prevent deviating from the track, so as to solve the technical problem that the existing robot is prone to deviating from the track during the charging process.

[0005] To achieve this goal, this application adopts the following technical solutions:

[0006] A charging device for preventing track deviation, comprising:

[0007] The track robot comprises rollers, and the rollers of two of the track robots abut against the bottom surface of the moving guide rail;

[0008] A fixed structure, the fixed structure is arranged between the two track robots, and comprises a main body and a clamping mechanism arranged on the main body, a first end of the main body abuts against a bottom surface of the movable guide rail, and a second end of the main body is provided with a first magnetic attraction line;

[0009] A limiting structure, wherein the limiting structure is arranged around the roller on the track robot, and comprises a limiting block and a fixed guide column, wherein the limiting block is arranged on the peripheral side of the roller, and the fixed guide column is fixedly connected to the limiting block and is used to abut against the side wall of the movable guide rail to prevent the track robot from shifting during charging, and a second magnetic attraction line is arranged in the fixed guide column for magnetically connecting with the first magnetic attraction line, so that the first magnetic attraction line and the second magnetic attraction line (321) are electrically conductive.

[0010] Further, both ends of the second end of the main body are provided with accommodating cavities extending in the direction of the track robot, the first magnetic line is arranged in the accommodating cavity, the first end of the first magnetic line extends along the direction of the moving guide rail and is connected to a power source, and the second end of the first magnetic line is arranged in the accommodating cavity and extends in a direction away from the main body;

[0011] An elastic member is sleeved on the second end of the first magnetic wire. The elastic member is arranged in the accommodating cavity and is elastically connected to the second end of the first magnetic wire to provide a buffer when the second magnetic wire is magnetically connected to the first magnetic wire.

[0012] Furthermore, both sides of the limit block are arc-shaped structures, and the inner walls of the arc-shaped sides of the limit block are spaced at a preset distance to match the outer diameter of the roller, so that the limit block can fit tightly around the roller, thereby limiting the movement range of the track robot.

[0013] Furthermore, the fixed guide column includes a hollow circular structure and a fixed block, the fixed block is fixedly connected to the limit block, the hollow circular structure is arranged in the middle position of the fixed block, the hollow part of the inner wall of the fixed block is communicated with the hollow circular structure, and is used to accommodate the second magnetic wire, one end of the second magnetic wire is connected to the track robot, and the other end passes through the fixed guide column and is arranged corresponding to the second end of the first magnetic wire, so as to realize the charging of the track robot on the moving guide rail.

[0014] Further, the clamping mechanism comprises a clamping portion, a first connecting portion and a second connecting portion, the clamping portion and the first connecting portion are fixedly connected, and the second connecting portion is arranged at the connection between the clamping portion and the first connecting portion and extends in a direction away from the opening of the clamping portion;

[0015] The clamping mechanism includes a first state and a second state. When the clamping mechanism is in the first state, the clamping portion contacts the outer bottom surface of the movable guide rail, and the first connecting parts of the two clamping mechanisms are connected by a connecting piece to form a closed clamping state to fix the movable guide rail; when the clamping mechanism is in the second state, the clamping portion contacts the inner bottom surface of the movable guide rail, and the first connecting parts of the two clamping mechanisms are connected by a connecting piece, and the second connecting parts of the two clamping mechanisms contact each other to form a closed clamping state to fix the movable guide rail.

[0016] Further, the connecting member includes a connecting rod and a connecting sleeve, the connecting sleeve clamps one of the first connecting parts, and the connecting rod passes through the first connecting parts of the two clamping mechanisms and is connected to the connecting sleeve to achieve the connection of the two clamping mechanisms;

[0017] The connecting rod is sleeved with a spring to provide a certain elastic force so that the clamping mechanism can adapt to the moving guide rails of different thicknesses when clamping the moving guide rail.

[0018] Further, a plurality of elastic arms are arranged at intervals at both ends of the hollow portion of the inner wall of the fixed block, and the elastic arms are connected to the track robot;

[0019] A conductive connector is provided on one side of the second end of the second magnetic wire corresponding to the first magnetic wire, a semicircular protrusion is provided on the outer wall of the conductive connector, a semicircular groove corresponding to the semicircular protrusion is provided on the inner wall of the fixed guide column, and the semicircular protrusion cooperates with the semicircular groove to realize a fixed connection between the second magnetic wire and the fixed guide column.

[0020] The present application also discloses a charging method, wherein the charging device further comprises a position sensor, a current detection module and a control unit, and is used to implement the charging device for preventing track deviation as described in any one of the above items, comprising:

[0021] Acquire initial position information of the rail robot on the moving guide rail based on the position sensor, wherein the initial position information includes a coordinate point of the rail robot on the moving guide rail;

[0022] Decomposing the coordinate points in sequence based on the control unit to obtain a plurality of component information, each of the component information is a coordinate point in a different moving direction;

[0023] Acquire a predetermined path of the track robot according to the component information, and control the track robot to move along the moving guide rail according to the predetermined path;

[0024] Monitoring the current change of the rail robot during the movement process by the current detection module to determine whether the rail robot deviates from the predetermined path;

[0025] When it is detected that the rail robot deviates from the predetermined path, the control unit issues an adjustment instruction to adjust the moving direction of the rail robot so that the rail robot moves along the predetermined path to a designated position for docking and charging.

[0026] Furthermore, the step of monitoring the current change of the rail robot during movement by the current detection module to determine whether the rail robot deviates from the predetermined path also includes:

[0027] Acquire output current data of the rail robot during movement based on the current detection module, and add time tags to the output current data to form a time series;

[0028] Comparing the current data at preset time intervals in the time series, obtaining a current change value, and determining whether the current change value is greater than a preset current value;

[0029] If it is greater than, the mean and variance of the current values ​​within the preset time interval are calculated; if the mean of the current values ​​continues to deviate from the preset current value and the variance value increases, it is determined that the track robot deviates from the predetermined path.

[0030] Furthermore, the step of decomposing the coordinate points into a sequence based on the control unit to obtain a plurality of component information, each of which is a coordinate point in a different moving direction, includes:

[0031] The time series data of the coordinate points are converted into frequency domain data by Fourier transform, so as to obtain the coordinate point information corresponding to each frequency component;

[0032] Filtering the frequency domain data, converting the filtered frequency domain data back to the time domain through inverse Fourier transform to obtain optimized component information;

[0033] The moving position of the track robot in each moving direction is calculated according to the optimized component information.

[0034] Compared with the prior art, this application has the following beneficial effects:

[0035] The charging device for preventing deviation from the track of the present application ensures the accurate docking of the rail robot with the charging base or the charging track during charging by setting a limit structure and a fixed structure, thereby improving the charging efficiency and reliability. The setting of the limit structure effectively prevents the position deviation of the rail robot during the charging process, ensuring the smoothness and stability of the charging process. Therefore, the charging device of the present application not only improves the charging efficiency and reliability of the rail robot, but also improves the user experience. In practical applications, the charging device of the present application can effectively extend the working time of the rail robot and reduce the downtime caused by charging problems, thereby improving the use efficiency of the rail robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0037] The structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification so as to facilitate understanding and reading by persons familiar with this technology. They are not used to limit the conditions under which this application can be implemented, and therefore have no substantive technical significance. Any structural modification, change in proportion or adjustment of size, without affecting the effects and purposes that can be achieved by this application, should still fall within the scope of the technical contents disclosed in this application.

[0038] Figure 1 Schematic diagram of the overall structure of the charging device to prevent track deviation.

[0039] Figure 2 A schematic structural diagram of an embodiment of a limiting structure of a charging device for preventing deviation from the track;

[0040] Figure 3 A structural schematic diagram of an embodiment of a fixing structure of a charging device for preventing deviation from the track;

[0041] Figure 4 A schematic structural diagram of an embodiment of a partial structure of a charging device for preventing track deviation;

[0042] Figure 5 A schematic structural diagram of an embodiment of a clamping mechanism for a charging device to prevent deviation from the track;

[0043] Figure 6 A schematic structural diagram of another embodiment of a clamping mechanism for a charging device to prevent deviation from the track;

[0044] Figure 7A schematic structural diagram of an embodiment of a partial structure of a charging device for preventing track deviation;

[0045] Figure 8 Schematic diagram of the overall steps of the charging method.

[0046] Illustration Description:

[0047] 1. Track robot; 11. Moving guide rail; 2. Fixed structure; 21. Main body; 211. First end of the main body; 212. Second end of the main body; 213. First magnetic line; 22. Clamping mechanism; 221. Clamping part; 222. First connecting part; 223. Second connecting part; 23. Accommodating cavity; 24. Elastic member; 3. Limiting structure; 31. Limiting block; 32. Fixed guide column; 321. Second magnetic line; 322. Hollow circular structure; 323. Fixed block; 324. Elastic arm; 325. Conductive connector; 326. Semicircular groove; 4. Connecting member; 41. Connecting rod; 42. Connecting sleeve; 5. Roller. DETAILED DESCRIPTION

[0048] In order to make the purpose, features, and advantages of the invention of this application more obvious and easy to understand, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the embodiments described below are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0049] In the description of the present application, it should be understood that the terms "upper", "lower", "top", "bottom", "inside", "outside", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. It should be noted that when a component is considered to be "connected" to another component, it may be directly connected to the other component or there may be a centrally arranged component at the same time.

[0050] The technical solution of the present application is further explained below with reference to the accompanying drawings and through specific implementation methods.

[0051] refer to Figures 1 to 7The present application provides a charging device for preventing deviation from the track, comprising: a track robot 1, comprising a roller, wherein the rollers of the two track robots 1 abut against the bottom surface of a moving guide rail 11; a fixed structure 2, wherein the fixed structure 2 is arranged between the two track robots 1, and comprises a main body 21 and a clamping mechanism 22 arranged on the main body 21, wherein the first end of the main body 21 abuts against the bottom surface of the moving guide rail 11, and the second end of the main body 21 is provided with a first magnetic attraction line 213; a limiting structure 3, wherein the limiting structure 3 surrounds The track robot 1 is arranged around the roller, including a limit block 31 and a fixed guide column 32. The limit block 31 is arranged on the peripheral side of the roller. The fixed guide column 32 is fixedly connected to the limit block 31 and is used to abut against the side wall of the movable guide rail 11 to prevent the track robot 1 from shifting during the charging process. The fixed guide column 32 is provided with a second magnetic wire 321 for magnetically connecting with the first magnetic wire 213 so that the first magnetic wire 213 is electrically conductive with the second magnetic wire (321).

[0052] In this embodiment, the rail robot 1 is closely matched with the bottom surface of the moving guide rail 11 through the roller to ensure that no slipping occurs during the movement. When the rail robot 1 moves on the moving guide rail 11, the first end of the main body 21 of the fixed structure 2 abuts against the bottom surface of the moving guide rail 11 to ensure the stability of the entire device. The setting of the clamping mechanism 22 enables the rail robot 1 to be firmly clamped on the bottom surface of the moving guide rail 11 to prevent the deviation caused by external force during the charging process. The setting of the limiting structure 3 further ensures the stability and safety of the rail robot 1 during the charging process. The limiting block 31 is set around the roller to prevent the roller from leaving the guide rail. The fixed guide column 32 is fixedly connected to the limiting block 31 and abuts against the side wall of the moving guide rail 11, further preventing the deviation of the rail robot 1 during the charging process. In addition, the second magnetic attraction line 321 set in the fixed guide column 32 and the first magnetic attraction line 213 on the main body 21 of the rail robot 1 attract each other, so that the rail robot 1 can be stably adsorbed on the moving guide rail 11 during charging, ensuring the smooth progress of the charging process.

[0053] It is worth noting that charging can be achieved even if the magnetic wire of the present application is swayed or the track robot 1 runs off-center. Because the magnetic wire has a certain toughness, if the contact of the magnetic heads is not on the same center line after the charging device is installed, the two magnetic charging heads can achieve contact by suction under the force of attraction of opposite magnetic poles; charging can also be achieved when the number and size of the clamping parts 221 are different, and about 16mm of redundancy is left in the axial direction of the guide rail. In the prior art, the maximum width of a curtain clamping part 221 is usually 15mm. Even if an additional clamping part 221 is added between the track robot 1 and the charging device, charging can be achieved, and the remaining redundancy can be adjusted with market changes. Because the track robot 1 is connected to the curtain clamping part 221, the track robot 1 will stop if it cannot move forward when it is opened and closed. Therefore, in the absence of an additional clamping part 221, the track robot 1 will continue to move forward and compress the spring after the magnetic suction head contacts the clamping part 221 connected to the track robot 1 until it contacts the charging device and stops. If there is an additional clamping part 221, the track robot 1 will move forward after the magnetic suction head contacts the clamping part 221 and stop after it contacts the charging device. The same is true when the size of the clamping part 221 is different, and the charging effect can be achieved within a range of 16mm. During the compression process, there may be a gap between the two magnetic suction heads because the charging line is slightly soft, so the electrode in the middle of the magnetic suction line needs to use a magnetic suction head that is 1-2mm longer than the magnet electrode. This type of magnetic suction head is more common on the market. In addition to charging, the present invention also solves the problem of the track robot 1 deviating from the track. When the track robot 1 is running, there is a gap between the clamping part 221 on the mobile guide rail 11 and the mobile guide rail 11, so when the track robot 1 is running, it will swing left and right on the guide rail with the clamping part 221. In severe cases, the track robot 1 will even derail and get stuck in the groove of the mobile guide rail 11. This phenomenon is common in the track robots 1 on the market. Some track robots 1 increase the length of the roller to reduce the influence of the deflection. This solution will cause the device to become larger or cause the device proportion to be uncoordinated, affecting the appearance of the device. If the gap between the guide rail and the clamping part 221 is large, there may be a derailment phenomenon. Some use a special clamping part 221 to solve the deflection problem. Different structures are needed for different types of guide rails. This solution can solve the deviating problem but the cost will be greatly increased. The track robot 1 assisted by the present invention is different from other similar products on the market. Its center of gravity is biased to one side, so pulling the track robot 1 by hand will cause it to deviate to one side. After installing the magnetic guide column of the present device, the protrusion of the guide column can prevent the track robot 1 from deviating from the track. Because the center of gravity of the track robot 1 of this solution is biased to one side, the problem of deviating from the track can be solved without adding a protrusion to the other side of the magnetic guide column.

[0054] In another embodiment, an arc-shaped groove is further included, and the arc-shaped groove is arranged on the bottom surface of the movable guide rail 11 to accommodate the roller of the track robot 1. In this embodiment, the shape of the arc-shaped groove matches the outer contour of the roller, so that the roller can roll smoothly along the arc-shaped groove during the movement, thereby reducing the friction between the roller and the bottom surface of the guide rail, and improving the movement efficiency of the track robot 1. At the same time, the design of the arc-shaped groove can also ensure that the roller will not be separated from the guide rail during the movement, thereby further improving the stability and safety of the track robot 1. In practical applications, the depth and width of the arc-shaped groove can be adjusted according to the size of the roller to adapt to different models of track robots 1. In addition, the material of the arc-shaped groove can be selected from materials with strong wear resistance, such as polymer materials or metal materials, to extend the service life of the movable guide rail 11.

[0055] In another embodiment, a position detection structure is also provided, and the position detection structure is arranged on the moving path of the rail robot, and is used to monitor the position of the rail robot 1 in real time. The position detection structure can be a plurality of magnetic sensors, including a first magnetic sensor and a second magnetic sensor, which respectively obtain the position information of the rail robot 1 on the moving path. When the rail robot 1 passes through the first magnetic sensor, the sensor will detect its position and send a signal to the control system. The control system determines whether the rail robot 1 is in the correct position according to the received signal. If the rail robot 1 deviates from the predetermined path, the control system will issue an adjustment instruction to return the rail robot 1 to the correct position through the driving device. The function of the second magnetic sensor is similar to that of the first magnetic sensor, and is used to detect the position information of the rail robot 1 at another position point to ensure its accuracy and stability on the entire moving path. The position detection structure can also include an optical sensor, which determines its position by detecting the reflective mark on the rail robot 1. When the rail robot 1 passes, the optical sensor will emit light and receive the reflected light, and calculate the position of the rail robot 1 by analyzing the intensity and time difference of the reflected light. This optical detection method has high accuracy and response speed, and can accurately monitor the position change of the rail robot 1 in real time. By combining the position detection structure of the magnetic sensor and the optical sensor, the dual detection of the position of the track robot 1 can be achieved to ensure its accuracy and stability during movement. This comprehensive detection method not only improves the reliability of the system, but also can timely detect and correct the deviation of the track robot 1, thereby ensuring the normal operation and charging efficiency of the charging device.

[0056] In one embodiment, both ends of the second end of the main body 21 are provided with accommodating cavities 23 extending in the direction of the track robot 1, the first magnetic wire 213 is arranged in the accommodating cavity 23, the first end of the first magnetic wire 213 extends along the direction of the movable guide rail 11 and is connected to the power supply, the second end of the first magnetic wire 213 is arranged in the accommodating cavity 23 and extends in the direction away from the main body 21; an elastic member 24 is sleeved on the second end of the first magnetic wire 213, the elastic member 24 is arranged in the accommodating cavity 23 and forms an elastic connection with the second end of the first magnetic wire 213, so as to provide a buffer when the second magnetic wire 321 is magnetically connected to the first magnetic wire 213.

[0057] In this embodiment, both ends of the second end of the main body 21 are provided with a receiving cavity 23 extending in the direction of the track robot 1, and a first magnetic attraction line 213 is provided in the receiving cavity 23, and its first end extends in the direction of the moving guide rail 11 and is connected to the power supply. The second end is arranged in the receiving cavity 23 and extends in the direction away from the main body 21. In order to ensure the stability and buffering of the magnetic attraction line when connected, an elastic member 24 is sleeved on the second end, and an elastic connection is formed between the elastic member 24 and the first magnetic attraction line 213. When the second magnetic attraction line 321 is magnetically connected to the first magnetic attraction line 213, the elastic member 24 can provide the necessary buffer, thereby ensuring the stability and safety of the charging process. A second magnetic attraction line 321 is provided in the fixed guide column 32, and is mutually attracted to the first magnetic attraction line 213 on the main body 21 of the track robot 1. The elastic member 24 can be a spring, one end of which is fixed on the inner wall of the receiving cavity 23, and the other end is connected to the second end of the first magnetic attraction line 213. When the rail robot 1 is slightly offset due to external force during charging, the spring can provide a certain elastic force to maintain a stable magnetic connection between the first magnetic attraction line 213 and the second magnetic attraction line 321, thereby ensuring stable adsorption of the rail robot 1 during charging. In addition, the presence of the spring can also absorb part of the impact force, reducing the risk of equipment damage caused by collision or vibration.

[0058] In one embodiment, both sides of the limit block 31 are arc-shaped structures, and the inner walls of the arc-shaped sides of the limit block 31 are spaced at a preset distance to match the outer diameter of the roller, so that the limit block 31 can fit tightly around the roller, thereby limiting the movement range of the track robot 1.

[0059] In this embodiment, the two sides of the limit block 31 are arc-shaped structures, so that the limit block 31 can fit tightly on the circumference of the roller, thereby effectively limiting the range of movement of the rail robot 1. The inner walls on both sides of the arc are spaced at a preset distance to match the outer diameter of the roller, ensuring good contact between the limit block 31 and the roller, and avoiding inaccurate positioning caused by excessive gaps. In addition, the design of the arc structure can also adapt to the slight deviation that may occur during the movement of the roller, ensuring that the limit block 31 can always effectively limit the range of movement of the rail robot 1, thereby ensuring that the rail robot 1 will not exceed the predetermined charging area during the charging process. Further, the arc structure is a stepped design, so that the limit block 31 has a certain elasticity when it contacts the roller, thereby absorbing the impact force generated by the rail robot 1 during the movement to a certain extent. This design not only improves the durability of the limit block 31, but also reduces the possibility of damage to the roller or the limit block 31 due to excessive impact. The setting of the fixed guide column 32 can not only resist the side wall of the movable guide rail 11 to prevent the rail robot 1 from deviating during the charging process, but also serve as a supporting structure for the limit block 31 to ensure that the limit block 31 remains stable during long-term use. In actual applications, when the rail robot 1 is charging, the limit block 31 cooperates closely with the roller to ensure that the rail robot 1 will not deviate from the predetermined position due to external forces. At the same time, the second magnetic wire 321 in the fixed guide column 32 and the first magnetic wire 213 on the main body 21 of the rail robot 1 attract each other, so that the rail robot 1 can be stably adsorbed on the movable guide rail 11 during charging. This combination of double limit and magnetic wire design not only improves the stability and safety of the charging device, but also ensures the smooth progress of the charging process, providing a strong guarantee for the long-term stable operation of the rail robot 1.

[0060] In one embodiment, the fixed guide column 32 includes a hollow circular structure 322 and a fixed block 323, the fixed block 323 is fixedly connected to the limit block 31, the hollow circular structure 322 is arranged in the middle position of the fixed block 323, and the hollow portion of the inner wall of the fixed block 323 is communicated with the hollow circular structure 322, for accommodating the second magnetic wire 321, one end of the second magnetic wire 321 is connected to the track robot 1, and the other end passes through the fixed guide column 32 and is arranged corresponding to the second end of the first magnetic wire 213, so as to realize the charging of the track robot 1 on the moving guide rail 11.

[0061] In this embodiment, the fixed guide column 32 includes a hollow circular structure 322 and a fixed block 323, the fixed block 323 is fixedly connected to the limit block 31, and the hollow circular structure 322 is arranged in the middle position of the fixed block 323. The hollow part of the inner wall is connected to the hollow circular structure 322, and is used to accommodate the second magnetic line 321. One end of the second magnetic line 321 is connected to the track robot 1, and the other end passes through the fixed guide column 32 corresponding to the second end of the first magnetic line 213, so as to realize the charging of the track robot 1 on the moving guide rail 11. The hollow design of the fixed guide column 32 not only reduces the overall weight, but also facilitates installation and maintenance. The hollow part can be used as a wiring channel, so that the power line and the signal line can be easily passed through the fixed guide column 32 and connected to the track robot 1. In addition, the setting of the hollow circular structure 322 also provides sufficient space for the limit block 31, so that the limit block 31 will not be interfered by the fixed guide column 32 when it is closely matched with the roller, thereby ensuring the stability and accuracy of the limit block 31. The setting of the fixed block 323 further enhances the structural strength of the entire charging device, ensuring that during long-term use, the fixed guide column 32 and the limit block 31 can remain stable and will not be deformed or damaged due to external forces. Through this design, the rail robot 1 can not only be stably adsorbed on the moving guide rail 11 during charging, but also ensure the smooth progress of the charging process, providing a strong guarantee for the long-term stable operation of the rail robot 1.

[0062] In one embodiment, the clamping mechanism 22 includes a clamping portion 221, a first connecting portion 222 and a second connecting portion 223, the clamping portion 221 and the first connecting portion 222 are fixedly connected, the second connecting portion 223 is arranged at the connection between the clamping portion 221 and the first connecting portion 222, and extends in a direction away from the opening of the clamping portion 221; the clamping mechanism 22 includes a first state and a second state, when the clamping mechanism 22 is in the first state, the clamping portion 221 contacts the outer bottom surface of the movable guide rail 11, and the first connecting portions 222 of the two clamping mechanisms 22 are connected by the connecting member 4 to form a closed clamping state to fix the movable guide rail 11; when the clamping mechanism 22 is in the second state, the clamping portion 221 contacts the inner bottom surface of the movable guide rail 11, the first connecting portions 222 of the two clamping mechanisms 22 are connected by the connecting member 4, and the second connecting portions 223 of the two clamping mechanisms 22 contact each other to form a closed clamping state to fix the movable guide rail 11.

[0063] In this embodiment, the clamping mechanism 22 includes a clamping portion 221, a first connecting portion 222 and a second connecting portion 223. The clamping portion 221 is fixedly connected to the first connecting portion 222. The second connecting portion 223 is arranged at the connection between the clamping portion 221 and the first connecting portion 222 and extends in a direction away from the opening of the clamping portion 221. The clamping mechanism 22 includes at least two states. When the clamping mechanism 22 is in the first state, the clamping portion 221 contacts the outer bottom surface of the moving guide rail 11, and the first connecting portions 222 of the two clamping mechanisms 22 are connected by the connecting member 4 to form a closed clamping state to fix the moving guide rail 11. When the clamping mechanism 22 is in the second state, the clamping portion 221 contacts the inner bottom surface of the moving guide rail 11, and the first connecting portions 222 of the two clamping mechanisms 22 are connected by the connecting member 4, and the second connecting portions 223 of the two clamping mechanisms 22 contact each other to form a closed clamping state to fix the moving guide rail 11. This design enables the clamping mechanism 22 to adapt to different thicknesses of the moving guide rails 11, ensuring the stability and safety of the rail robot 1 during charging. The first state and the second state of the clamping mechanism 22 correspond to the clamping states of the outer bottom surface and the inner bottom surface of the moving guide rail 11, that is, they correspond to the T-shaped and U-shaped guide rails, respectively. It only needs to change the direction to adapt to both the T-shaped and U-shaped guide rails, saving costs.

[0064] In one embodiment, refer to Figure 5 and Figure 6 , first fix the fixing device to the moving guide rail 11, and attach Figure 6 The installation method of the U-shaped guide rail is to change the clamping state of the clamping mechanism 22 to the second state and put it into the groove on the inner wall of the guide rail. Note that the fixing device and the guide rail need to be flat, and then tighten the screws. Figure 5 The installation method of the T-shaped guide rail is to replace the clamping mechanism 22 to the first state and place it on both sides of the outer wall of the bottom surface of the guide rail, pay attention to make the fixing device and the guide rail flat, and tighten the screws. Pull the first magnetic wire 213 along the movable guide rail 11, pull it out from any side of the guide rail, and insert it into the charging seat. If it is a double curtain, then install the track robot 1 in the middle of the movable guide rail 11. If it is a single curtain, then install the track robot 1 on the edge of the side where the movable guide rail 11 is opened.

[0065] In one embodiment, the connecting member 4 includes a connecting rod 41 and a connecting sleeve 42, the connecting sleeve 42 clamps one of the first connecting parts 222, and the connecting rod 41 passes through the first connecting parts 222 of the two clamping mechanisms 22 and is connected to the connecting sleeve 42 to achieve the connection between the two clamping mechanisms 22; a spring is sleeved on the connecting rod 41 to provide a certain elastic force so that the clamping mechanism 22 can adapt to moving guide rails 11 of different thicknesses when clamping the moving guide rail 11.

[0066] In this embodiment, the design of the connecting member 4 includes a connecting rod 41 and a connecting sleeve 42, the connecting sleeve 42 clamps a first connecting portion 222, and the connecting rod 41 passes through the first connecting portions 222 of the two clamping mechanisms 22 and is connected to the connecting sleeve 42 to achieve the connection of the two clamping mechanisms 22. A spring is sleeved on the connecting rod 41 to provide a certain elastic force so that the clamping mechanism 22 can adapt to different thicknesses of the moving guide rail 11 when clamping the moving guide rail 11. This elastic connection design not only improves the adaptability of the clamping mechanism 22, but also ensures the stability and safety when clamping the moving guide rail 11. The presence of the spring enables the clamping mechanism 22 to have a certain elastic deformation when subjected to external force, thereby absorbing part of the impact force and reducing damage to the moving guide rail 11. In addition, the structure of the connecting member 4 is simple, easy to install and maintain, and has low cost, which is suitable for large-scale production and application. The two-state clamping design of the clamping mechanism 22 enables the track robot 1 to adapt to different types of moving guide rails 11, whether it is a T-shaped or U-shaped guide rail, it can be stably adsorbed and charged. This design not only improves the charging efficiency of the rail robot 1, but also ensures the smooth progress of the charging process, providing a strong guarantee for the long-term stable operation of the rail robot 1.

[0067] In one embodiment, a plurality of elastic arms 324 are spaced apart at both ends of the hollow portion of the inner wall of the fixed block 323, and the elastic arms 324 are connected to the track robot 1; a conductive connector 325 is provided on one side of the second end of the second magnetic wire corresponding to the first magnetic wire 213, and a semicircular protrusion is provided on the outer wall of the conductive connector 325, and a semicircular groove 326 corresponding to the semicircular protrusion is provided on the inner wall of the fixed guide column 32, and the semicircular protrusion cooperates with the semicircular groove 326 to realize the fixed connection between the second magnetic wire 321 and the fixed guide column 32.

[0068] In this embodiment, a plurality of elastic arms 324 are arranged at intervals at both ends of the hollow part of the inner wall of the fixed block 323, and these elastic arms 324 are connected to the track robot 1. The design of the elastic arms 324 enables the track robot 1 to be more stably adsorbed on the moving guide rail 11 during charging, and even when the moving guide rail 11 is slightly shaken, the elastic arms 324 can provide a certain buffering effect to ensure the stability and safety of the charging process. In addition, the setting of the elastic arms 324 can also adapt to moving guide rails 11 of different thicknesses, making the charging of the track robot 1 more flexible and convenient in different environments. A conductive connector 325 is arranged on one side of the second end of the second magnetic wire corresponding to the first magnetic wire 213, and a semicircular protrusion is arranged on the outer wall of the conductive connector 325. A semicircular groove 326 corresponding to the semicircular protrusion is arranged on the inner wall of the fixed guide column 32, and the semicircular protrusion cooperates with the semicircular groove 326 to realize the fixed connection between the second magnetic wire 321 and the fixed guide column 32. This design not only ensures the stable connection of the magnetic cable, but also facilitates the quick removal and replacement of the magnetic cable when needed, improving the maintenance efficiency and service life of the charging device.

[0069] In another embodiment, a voltage sensor is also included. A plurality of spaces are provided in the semicircular groove 326. Each space corresponds to a voltage sensor. The voltage sensor is used to monitor the voltage change during the charging process in real time to ensure that the charging device operates within a safe voltage range. A conductive contact connected to the voltage sensor is provided in each space. When the semicircular protrusion enters a different space, it contacts the corresponding conductive contact, thereby realizing real-time monitoring of the voltage.

[0070] refer to Figure 8 The present application also proposes a charging method, which is applied to any of the above-mentioned charging devices for preventing track deviation, wherein the charging device further includes a position sensor, a current detection module and a control unit, and the charging method includes:

[0071] S1: Acquire initial position information of the rail robot on the moving guide rail based on the position sensor, wherein the initial position information includes a coordinate point of the rail robot on the moving guide rail;

[0072] In step S1, when the track robot starts, the position sensor (such as a laser sensor or an ultrasonic sensor) is activated to detect the current position of the track robot on the moving guide rail. The position information is collected by the sensor, including the distance value relative to the starting position of the moving guide rail. This process requires ensuring that the sensor can clearly detect its surrounding environment and store the collected initial position information in the memory of the track robot. This information usually includes horizontal and vertical coordinates (such as X and Y axes), as well as height information (Z axis), and data calibration is performed to ensure that the sensor readings are accurate. If there is interference in the environment (such as light changes or obstacles), the parameters of the sensor should be adjusted in time to improve accuracy, and the position information should be formatted into a standard data structure to facilitate data interaction with other modules. Specifically, the initial position distance of the track robot can be determined by calculating the coordinate difference between its end point and the starting position. Specifically, the square of the difference between the X coordinate of the end point and the X coordinate of the starting position is first calculated, and the square of the difference between the Y coordinate of the end point and the Y coordinate of the starting position is added, and then the square root is taken to obtain the distance of the initial position. When performing data calibration, first obtain the difference between the distance measured by the sensor and the actual distance, then divide this difference by the actual distance and multiply it by 100 to express the calibration error as a percentage.

[0073] S2: Decomposing the coordinate points in sequence based on the control unit to obtain a plurality of component information, each of which is a coordinate point in a different moving direction;

[0074] In step S2, the coordinate point information of the track robot in different moving directions is collected and sorted, and the control unit decomposes the initial position information into multiple component information, which represents the moving path of the track robot in various directions. For example, if the track robot needs to move in the positive direction of the X-axis, the control unit will decompose the X-axis coordinate point into component information for positive movement. Similarly, if it needs to move in the negative direction of the Y-axis, the control unit will generate corresponding negative movement component information. In this way, the control unit simplifies the complex moving path into a series of component information, which is convenient for subsequent path planning and control. Each component information contains the necessary coordinate point data to ensure that the track robot can accurately move along the predetermined path.

[0075] S3: acquiring a predetermined path of the track robot according to the component information, and controlling the track robot to move along the moving guide rail according to the predetermined path;

[0076] S4: monitoring the current change of the rail robot during the movement process through the current detection module to determine whether the rail robot deviates from the predetermined path;

[0077] In steps S3 and S4, the collected component information is analyzed by the control unit to determine the predetermined path of the rail robot. The control unit converts the component information into specific movement instructions and sends them to the drive system of the rail robot. The rail robot moves along the moving guide rail according to these instructions to ensure that it moves along the predetermined path. The control unit continuously monitors the movement state of the rail robot to ensure that it moves along the predetermined path. If the rail robot deviates from the predetermined path during the movement, the control unit will immediately adjust the movement instructions to return the rail robot to the correct path. The current detection module continuously monitors the current changes of the rail robot during the movement. The current detection module can determine whether the rail robot has deviated from the predetermined path by analyzing the current data. For example, if the rail robot encounters additional resistance or friction during the movement, the current consumption of its drive motor will increase. The current detection module can detect whether the rail robot has deviated from the predetermined path in time through the detected current changes, and feed this information back to the control unit. The control unit adjusts the movement instructions of the rail robot according to the information provided by the current detection module to ensure that it can correct the deviation in time and continue to move along the predetermined path. It is worth noting that this embodiment calculates the optimal path through a path planning algorithm, combined with the current position and target charging position of the rail robot, and sets multiple checkpoints on the optimal path. When the rail robot reaches each checkpoint, it is precisely positioned through the position sensor and infrared measurement module to ensure that the rail robot moves along the optimal path. Specifically, the distance and direction between the current position of the rail robot and the target charging position are first determined, and then the time required to reach the next checkpoint is calculated based on the moving speed and acceleration of the rail robot. The control unit integrates this information, generates a series of movement instructions, and sends them to the drive system of the rail robot. The rail robot moves according to these instructions to ensure that it moves along the optimal path.

[0078] S5: When it is detected that the track robot deviates from the predetermined path, the control unit issues an adjustment instruction to adjust the moving direction of the track robot so that the track robot moves along the predetermined path to a designated position for docking and charging.

[0079] In step S5, when it is detected that the rail robot deviates from the predetermined path, the control unit issues adjustment instructions, which are intended to correct the moving direction of the rail robot and ensure that it can return to the predetermined path. The control unit will calculate the necessary adjustment amount based on the current deviation degree and direction of the rail robot and generate corresponding movement instructions. These instructions will be sent to the drive system of the rail robot, and the drive system will adjust the operating state of the motor according to the instructions so that the rail robot can reposition and move along the predetermined path. In order to ensure that the rail robot can accurately dock and charge, the control unit will continuously monitor the movement state of the rail robot. When the rail robot approaches the target charging position, the control unit will further refine the adjustment instructions to ensure that the rail robot can dock smoothly and accurately with the charging device. During the docking process, the control unit will use the position sensor and infrared measurement module for precise positioning to ensure the docking accuracy of the rail robot and the charging device.

[0080] In summary, this embodiment first obtains the initial position information of the rail robot and decomposes it into multiple component information, thereby simplifying the path planning and control process. Then, the control unit generates movement instructions based on these component information to ensure that the rail robot can move along the predetermined path. During the movement process, the current detection module continuously monitors the current changes to determine whether the rail robot deviates from the predetermined path. If the rail robot deviates from the predetermined path, the control unit will issue an adjustment instruction to return the rail robot to the predetermined path. Finally, the rail robot can accurately move to the designated position along the optimal path for docking and charging.

[0081] It is worth noting that the implementation method in this embodiment can be implemented by various hardware, such as a microprocessor, a microcontroller, a digital signal processor (DSP) or other programmable logic devices. The control unit can be composed of one or more of these hardware devices, which implement the control algorithm and path planning algorithm through programming. In addition, the current detection module can include a current sensor and a corresponding signal processing circuit for real-time monitoring of the current consumption of the rail robot and providing a feedback signal.

[0082] In this embodiment, the calculation expression is: ,in, The realization expression representing the whole charging process is used to evaluate the effectiveness of the charging operation of the rail robot, is the initial horizontal coordinate of the track robot on the moving rail, is the initial ordinate of the track robot on the moving rail. n represents the number of decomposed coordinate points. Represents the i-th component information, reflecting the coordinate changes in different moving directions, represents the intended path of the track robot, calculated as the sum of all component information, The actual current value at time t minus the expected current value. If this difference is greater than the current deviation threshold, it indicates deviation. Indicates the adjustment instructions generated by the control unit to correct the behavior of deviation from the path. The deviation between the current coordinates and the planned path is expressed as ,in, is the current coordinate, is the target coordinate, and g is the adjustment instruction function.

[0083] The charging device of this embodiment can not only effectively prevent the rail robot from deviating from the track during movement, but also ensure the accuracy and efficiency of the charging process. Through the path planning algorithm and real-time monitoring system, the rail robot can complete the charging task quickly and accurately, thereby improving the operating efficiency and reliability of the entire system. In addition, this embodiment also has good scalability and adaptability, and can be applied to different types of rail robots and different charging environments. By continuously optimizing and adjusting the control algorithm, the performance and stability of the charging device can be further improved to meet the needs of future automation and intelligent development.

[0084] In one embodiment, the step of monitoring the current change of the rail robot during movement by the current detection module to determine whether the rail robot deviates from the predetermined path further includes:

[0085] Acquire output current data of the rail robot during movement based on the current detection module, and add time tags to the output current data to form a time series;

[0086] Comparing the current data at preset time intervals in the time series, obtaining a current change value, and determining whether the current change value is greater than a preset current value;

[0087] If it is greater than, the mean and variance of the current values ​​within the preset time interval are calculated; if the mean of the current values ​​continues to deviate from the preset current value and the variance value increases, it is determined that the track robot deviates from the predetermined path.

[0088] In this embodiment, the output current data of the rail robot during movement is obtained by the current detection module, and the output current data is added with a time tag to form a time series. The current data separated by a preset time interval in the time series are compared to obtain the current change value, and it is determined whether the current change value is greater than the preset current value. If it is greater, the mean and variance values ​​of the current values ​​within the preset time interval are calculated. If the mean value of the current value continues to deviate from the preset current value and the variance value increases, it is determined that the rail robot deviates from the predetermined path. It is worth noting that before the rail robot starts to move, a current range for normal operation is pre-set. During the operation of the rail robot, its output current is monitored in real time and compared with the preset current range. If the monitored current value exceeds the range, it is considered that the rail robot may have deviated from the track. In addition, in order to reduce misjudgment, a fault tolerance range can be set. Only when the number of times exceeding the normal operating current range reaches a certain threshold, can the rail robot be finally determined to have deviated from the predetermined path. In practical applications, the rail robot may need to operate in different working modes, such as acceleration, deceleration or uniform speed. Therefore, this embodiment may also include adjusting the preset current value and fault tolerance range according to different working modes. For example, during the acceleration phase, since the current consumption will increase, the preset current value and the upper limit of the fault tolerance range can be appropriately increased to avoid misjudgment. In this way, it can be ensured that the rail robot can accurately judge whether it is off track in various working modes, thereby improving the reliability and safety of the charging device.

[0089] In one embodiment, the step of decomposing the coordinate points in sequence based on the control unit to obtain a plurality of component information, each of which is a coordinate point in a different moving direction, includes:

[0090] The time series data of the coordinate points are converted into frequency domain data by Fourier transform, so as to obtain the coordinate point information corresponding to each frequency component;

[0091] Filtering the frequency domain data, converting the filtered frequency domain data back to the time domain through inverse Fourier transform to obtain optimized component information;

[0092] The moving position of the track robot in each moving direction is calculated according to the optimized component information.

[0093] In this embodiment, the time series data of the coordinate point is converted into frequency domain data by Fourier transform, so that the coordinate point information corresponding to each frequency component can be more accurately identified. In this way, the coordinate point information in different moving directions can be effectively separated, thereby providing support for the precise positioning of the rail robot. The frequency domain data is filtered to remove noise and unnecessary frequency components to ensure the accuracy of the data. The filtered frequency domain data is converted back to the time domain by inverse Fourier transform to obtain optimized component information, thereby improving the positioning accuracy of the rail robot in each moving direction. According to the optimized component information, the moving position of the rail robot in each moving direction is calculated. In this way, the position change of the rail robot can be monitored in real time to ensure that it moves along the predetermined path. If it is detected that the rail robot deviates from the predetermined path, the system will issue an alarm in time and take corresponding adjustment measures to ensure the normal operation of the rail robot. In practical applications, the rail robot may need to operate in different working modes, such as acceleration, deceleration or uniform speed. Therefore, this embodiment may also include adjusting the preset current value and fault tolerance range according to different working modes. For example, in the acceleration stage, since the current consumption will increase, the upper limit of the preset current value and the fault tolerance range can be appropriately increased to avoid misjudgment. In this way, it can be ensured that the rail robot can accurately determine whether it is off track in various working modes, thereby improving the reliability and safety of the charging device.

[0094] In one embodiment, the control unit calculates the deviation value between the current position of the rail robot and the predetermined path according to the real-time position information and the predetermined path information of the rail robot, and generates corresponding adjustment instructions to guide the rail robot back to the predetermined path. The control unit can also dynamically adjust the charging strategy according to the operating state and environmental conditions of the rail robot, such as changing the size of the charging current or adjusting the charging frequency to adapt to different charging needs and improve charging efficiency. In this embodiment, the control unit calculates the deviation value between the current position and the predetermined path by receiving the real-time position information and the predetermined path information of the rail robot. According to the size and direction of the deviation value, the control unit generates corresponding adjustment instructions to guide the rail robot back to the predetermined path. For example, if the rail robot deviates from the predetermined path and deviates to the left, the control unit will generate an instruction to adjust to the right, and vice versa. In addition, the control unit can also dynamically adjust the charging strategy according to the operating state (such as speed, acceleration, etc.) and environmental conditions (such as temperature, humidity, etc.) of the rail robot. For example, when the rail robot is running at high speed, in order to ensure charging efficiency, the control unit can appropriately increase the charging current; and when the ambient temperature is high, in order to prevent overheating, the control unit can appropriately reduce the charging current. In this way, it can be ensured that the rail robot can get a proper charge under various conditions, while ensuring the safety and reliability of the charging process.

[0095] As described above, the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A charging device for preventing deviation from the track, characterized in that: include: A track robot (1) comprising rollers, wherein two rollers of the track robot (1) abut against the bottom surface of a movable guide rail (11); a fixed structure (2), the fixed structure (2) being arranged between the two track robots (1), comprising a main body (21) and a clamping mechanism (22) arranged on the main body (21), the first end of the main body (21) being in contact with the bottom surface of the movable guide rail (11), and the second end of the main body (21) being provided with a first magnetic attraction line (213); a limiting structure (3), the limiting structure (3) being arranged on the track robot (1) around the roller, comprising a limiting block (31) and a fixed guide post (32), the limiting block (31) being arranged on the peripheral side of the roller, the fixed guide post (32) being fixedly connected to the limiting block (31) and being used to abut against the side wall of the movable guide rail (11) to prevent the track robot (1) from deviating during the charging process, and a second magnetic attraction line (321) being arranged in the fixed guide post (32) and being used to be magnetically connected to the first magnetic attraction line (213) so that the first magnetic attraction line (213) and the second magnetic attraction line (321) are electrically conductive; Both ends of the second end of the main body (21) are provided with a receiving cavity (23) extending in the direction of the track robot (1); the first magnetic attraction line (213) is arranged in the receiving cavity (23); the first end of the first magnetic attraction line (213) extends in the direction of the movable guide rail (11) and is connected to a power source; the second end of the first magnetic attraction line (213) is arranged in the receiving cavity (23) and extends in a direction away from the main body (21); An elastic member (24) is sleeved on the second end of the first magnetic attraction line (213), and the elastic member (24) is arranged in the accommodating cavity (23) and is elastically connected to the second end of the first magnetic attraction line (213), so as to provide a buffer when the second magnetic attraction line (321) is magnetically connected to the first magnetic attraction line (213); The fixed guide column (32) comprises a hollow circular structure (322) and a fixed block (323); the fixed block (323) is fixedly connected to the limit block (31); the hollow circular structure (322) is arranged at a middle position of the fixed block (323); the hollow portion of the inner wall of the fixed block (323) is in communication with the hollow circular structure (322) and is used to accommodate the second magnetic attraction line (321); one end of the second magnetic attraction line (321) is connected to the track robot (1), and the other end passes through the fixed guide column (32) and is arranged corresponding to the second end of the first magnetic attraction line (213), so as to realize charging of the track robot (1) on the moving guide rail (11).

2. The charging device for preventing track deviation according to claim 1, characterized in that: Both sides of the limit block (31) are arc-shaped structures, and the inner walls of the two sides of the arc of the limit block (31) are spaced at a preset distance to match the outer diameter of the roller, so that the limit block (31) can fit tightly around the roller, thereby limiting the movement range of the track robot (1).

3. The charging device for preventing track deviation according to claim 1, characterized in that: The clamping mechanism (22) comprises a clamping portion (221), a first connecting portion (222) and a second connecting portion (223); the clamping portion (221) and the first connecting portion (222) are fixedly connected; the second connecting portion (223) is arranged at the connection between the clamping portion (221) and the first connecting portion (222) and extends in a direction away from an opening of the clamping portion (221); The clamping mechanism (22) comprises at least a first state and a second state. When the clamping mechanism (22) is in the first state, the clamping portion (221) contacts the outer bottom surface of the movable guide rail (11), and the first connecting portions (222) of the two clamping mechanisms (22) are connected via a connecting member (4) to form a closed clamping state to fix the movable guide rail (11). When the clamping mechanism (22) is in the second state, the clamping portion (221) contacts the inner bottom surface of the movable guide rail (11), and the first connecting portions (222) of the two clamping mechanisms (22) are connected via a connecting member (4), and the second connecting portions (223) of the two clamping mechanisms (22) contact each other to form a closed clamping state to fix the movable guide rail (11).

4. The charging device for preventing track deviation according to claim 3, characterized in that: The connecting member (4) comprises a connecting rod (41) and a connecting sleeve (42), wherein the connecting sleeve (42) clamps one of the first connecting parts (222), and the connecting rod (41) passes through the first connecting parts (222) of the two clamping mechanisms (22) and is connected to the connecting sleeve (42), thereby realizing the connection of the two clamping mechanisms (22); A spring is sleeved on the connecting rod (41), so that the clamping mechanism (22) can adapt to movable guide rails (11) of different thicknesses when clamping the movable guide rail (11).

5. The charging device for preventing track deviation according to claim 1, characterized in that: A plurality of elastic arms (324) are arranged at intervals at both ends of the hollow portion of the inner wall of the fixed block (323), and the elastic arms (324) are connected to the track robot (1); A conductive connector (325) is provided on one side of the second end of the second magnetic wire corresponding to the first magnetic wire (213); a semicircular protrusion is provided on the outer wall of the conductive connector (325); a semicircular groove (326) corresponding to the semicircular protrusion is provided on the inner wall of the fixed guide column (32); the semicircular protrusion cooperates with the semicircular groove (326) to achieve fixed connection between the second magnetic wire (321) and the fixed guide column (32).

6. A charging method, used to implement the charging device for preventing track deviation according to any one of claims 1 to 5, wherein the charging device further comprises a position sensor, a current detection module and a control unit, characterized in that: The charging method comprises: Acquire initial position information of the rail robot on the moving guide rail based on the position sensor, wherein the initial position information includes a coordinate point of the rail robot on the moving guide rail; Decomposing the coordinate points in sequence based on the control unit to obtain a plurality of component information, each of the component information is a coordinate point in a different moving direction; Acquire a predetermined path of the track robot according to the component information, and control the track robot to move along the moving guide rail according to the predetermined path; Monitoring the current change of the rail robot during the movement process by the current detection module to determine whether the rail robot deviates from the predetermined path; When it is detected that the rail robot deviates from the predetermined path, the control unit issues an adjustment instruction to adjust the moving direction of the rail robot so that the rail robot moves along the predetermined path to a designated position for docking and charging.

7. The charging method according to claim 6, characterized in that: The step of monitoring the current change of the rail robot during movement by the current detection module to determine whether the rail robot deviates from the predetermined path also includes: Acquire output current data of the rail robot during movement based on the current detection module, and add time tags to the output current data to form a time series; Comparing the current data at preset time intervals in the time series, obtaining a current change value, and determining whether the current change value is greater than a preset current value; If it is greater than, the mean and variance of the current values ​​within the preset time interval are calculated; if the mean of the current values ​​continues to deviate from the preset current value and the variance value increases, it is determined that the track robot deviates from the predetermined path.

8. The charging method according to claim 6, characterized in that: The step of sequentially decomposing the coordinate points based on the control unit to obtain a plurality of component information, each of which is a coordinate point in a different moving direction, comprises: The time series data of the coordinate points are converted into frequency domain data by Fourier transform, so as to obtain the coordinate point information corresponding to each frequency component; Filtering the frequency domain data, converting the filtered frequency domain data back to the time domain through inverse Fourier transform to obtain optimized component information; The moving position of the track robot in each moving direction is calculated according to the optimized component information.

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