Rail holding locking mechanism for rail hanging robot, locking butt joint mechanism and rail hanging robot

Abstract

The invention provides a rail holding locking mechanism for a rail hanging robot, a locking butt joint mechanism and the rail hanging robot. The rail-hanging robot can advance along a walking guide rail, a charging base station is arranged along the walking guide rail, and the rail-holding locking mechanism comprises a driving mechanism which comprises a ball screw, a driving motor and a horizontal sliding table driven by the ball screw; the connecting rod mechanism is fixedly connected with the horizontal sliding table of the driving mechanism; the sliding ascending mechanism is arranged in the center of the connecting rod mechanism and is hinged with the connecting rod mechanism; the clamping and centering mechanism comprises a positioning block fixed to the top end of the connecting rod mechanism and a positioning groove fixed to the bottom side of a parking fixing beam of the charging base station, and when the horizontal sliding table is driven to move towards the center of the rail clamping and locking mechanism, the driving mechanism drives the top end of the connecting rod mechanism to move towards the center of the rail clamping and locking mechanism; and the positioning block of the clamping and centering mechanism tightly holds the positioning groove to form locking, and meanwhile, the sliding and lifting mechanism vertically moves upwards.

Description

Technical Field

[0001] The invention relates to the field of rail-hanging robots, and in particular to a rail-holding locking mechanism and a locking docking device of a rail-hanging robot. Background Art

[0002] In recent years, with the continuous advancement of intelligent and automated technologies, rail-mounted robots have gradually been widely used in industrial production, logistics and transportation, etc. These robots run on set tracks by hanging on rails, which can achieve efficient material handling and operations. However, in practical applications, the rail-holding locking mechanism of rail-mounted robots has some problems that need to be solved.

[0003] The existing rail-hanging robot technology has certain limitations in the design of the rail-holding locking mechanism. Traditional rail-hanging robots usually rely on mechanical buckles or friction to achieve rail-holding locking. Although this method has a simple structure and low manufacturing cost, it has many shortcomings in practical applications. First, the mechanical buckle-type rail-holding locking mechanism is prone to loose locking under complex working conditions, causing the robot to derail or slide when running on the track, seriously affecting the safety and stability of the operation. For example, when the robot approaches the mechanical buckle-type rail-holding locking mechanism, the chassis does not completely decelerate due to positioning errors or workspace limitations, resulting in loose locking. Secondly, the friction-type rail-holding locking mechanism is prone to failure after the track is worn, reducing the robot's work efficiency and reliability. In addition, existing rail-hanging robots usually lack adaptive capabilities and cannot be adjusted according to the actual state of the track, further limiting their application scenarios.

[0004] In view of the problems and defects in the existing technology, some researchers and enterprises have tried to improve the performance of rail-mounted robots by improving their structural design. For example, a rail-mounted robot is described in the Chinese patent with publication number CN221496135U. The robot attempts to solve the problem of rail-holding operation through a sliding wheel set and a suspension drive mechanism, but does not completely solve the rail-holding locking problem of the rail-mounted robot in complex scenarios. In the case of low positioning accuracy or installation errors, there will be a position deviation between the docking structure on the rail and the docking structure of the robot body, and the locking will still be loose.

[0005] Therefore, the rail-holding locking mechanism of the rail-hanging robot in the prior art has defects such as low reliability and poor adaptability, and it is difficult to meet the increasingly complex application requirements. In particular, in scenarios involving high safety and high stability, the prior art still cannot provide a satisfactory solution. Therefore, there is an urgent need for a new type of rail-holding locking mechanism for the rail-hanging robot, which can effectively improve the locking reliability and enhance the adaptability to better cope with various complex application scenarios. Summary of the invention

[0006] In order to overcome the above-mentioned problems of the existing rail-holding locking mechanism of the rail-hanging robot, the present invention aims to provide a rail-holding locking mechanism, a locking docking mechanism and a rail-hanging robot for a rail-hanging robot that can effectively improve the locking reliability and have strong adaptability.

[0007] The first aspect of the present invention provides a rail-holding locking mechanism for a rail-hanging robot, which can travel along a walking rail, and a charging base station is arranged along the walking rail, wherein the rail-holding locking mechanism includes: a driving mechanism installed on the top of the rail-hanging robot, which includes a ball screw, a driving motor for driving the ball screw and a horizontal slide driven by the ball screw; a connecting rod mechanism fixedly connected to the horizontal slide of the driving mechanism; a sliding lifting mechanism installed at the center of the connecting rod mechanism and hinged with the connecting rod mechanism; and a clamping and centering mechanism respectively fixed to the top of the connecting rod mechanism and the parking fixed beam of the charging base station, wherein the clamping and centering mechanism includes a positioning block fixed to the top of the connecting rod mechanism and a positioning groove fixed to the bottom side of the parking fixed beam of the charging base station and having a shape matching the relative part of the positioning block, and when the horizontal slide is driven to move toward the center of the rail-holding locking mechanism, the driving mechanism drives the top of the connecting rod mechanism to move toward the center, so that the positioning block and the positioning groove of the clamping and centering mechanism are close to the clamping positioning groove to form a lock, and the sliding lifting mechanism moves vertically upward.

[0008] Preferably, the rail-holding locking mechanism according to the present invention further includes a base arranged at the bottom and side plates clamped at the front and rear sides of the connecting rod mechanism and the sliding and rising mechanism.

[0009] Preferably, the track holding locking mechanism according to the present invention also includes a bearing seat, which is fixedly connected to the base; and two pairs of position sensors respectively fixedly connected to the bottom of the side plates on the front and rear sides of the bearing seat and the sliding lifting mechanism, and the driving mechanism also includes a sensor sensing plate arranged between each pair of position sensors and fixedly connected to the horizontal slide, wherein the cross-section of the sensor sensing plate is U-shaped, and has protrusions extending outward perpendicularly to the main plate surface at the left and right ends, and in the assembled state, the main plate surface of the sensor sensing plate is assembled on the side of the horizontal slide in a state perpendicular to the base, so that the position sensor can obtain limit information indicating the formation of a clamping state or a release state for use in controlling the end of clamping or the end of release of the track holding locking mechanism.

[0010] Preferably, in the rail-holding locking mechanism according to the present invention, the linkage mechanism includes two groups of symmetrical five-linkage mechanisms, each group of five-linkage mechanisms includes: a driving link, two groups of parallel links, a centering rod and a rising link, wherein the two groups of parallel links include a group of upper parallel links and a group of lower parallel links.

[0011] Preferably, in the rail-holding locking mechanism according to the present invention, the driving mechanism further comprises a horizontal guide rail fixedly connected to the base, wherein the horizontal slide table slides horizontally along the horizontal guide rail when driven by the driving motor.

[0012] Preferably, in the track holding locking mechanism according to the present invention, the connecting rod mechanism also includes a connecting rod base fixedly connected to the horizontal slide, and the driving rod is connected to the horizontal slide through the connecting rod base, wherein the lower parallel link is hinged to the driving link, and the hinge point is located in the middle of the lower parallel link, the upper parallel link is hinged to the rising link, and the hinge point is located in the middle of the upper parallel link, the upper ends of the upper and lower parallel links are hinged to the centering link, and the lower ends of the upper and lower parallel links are hinged to the side plates, and the end of the centering link that is not hinged to the upper ends of the two groups of parallel links is equipped with a positioning block, and when the horizontal slide drives the connecting rod base to move toward the center of the track holding locking mechanism, the upper ends of the upper and lower parallel links are driven by the driving link to move toward the center, so that the centering link moves vertically upward and translates toward the center.

[0013] Preferably, in the rail-holding locking mechanism according to the present invention, the sliding lifting mechanism includes: a lifting slide fixedly connected to the side plate; a lifting guide rail capable of vertically sliding along the lifting slide; a lifting sliding base fixedly connected to the lifting guide rail; a pin base plate assembled on the top of the lifting sliding base; a spring pin vertically and telescopically mounted on the pin base plate; and a lifting rod connecting piece hinged to the lifting connecting rod, wherein the left and right sides of the lifting sliding base are fixedly connected to the lifting rod connecting piece, and the lifting rod connecting piece, the pin base plate, the lifting sliding base and the lifting guide rail are connected to form an integral structure, which can drive the lifting connecting rod to move vertically upward along the lifting slide as the horizontal slide moves toward the center of the rail-holding locking mechanism. Preferably, in the rail holding locking mechanism according to the present invention, the clamping and centering mechanism also includes: a positioning clamping block and an adapter plate fixed to the bottom of the parking fixed beam on the top of the charging base station; and a clamping box adapter plate fixed to the side of the parking fixed beam, wherein the positioning grooves are fixed to both sides of the positioning clamping block, and the clamping box adapter plate is fixedly connected to the parking fixed beam on the top of the charging base station through the adapter plate.

[0014] The second aspect of the present invention provides a locking and docking mechanism for a rail-mounted robot, which can move along a walking rail, and a charging base station is arranged along the walking rail, wherein the rail-holding locking and docking mechanism includes: a positioning clamping block and an adapter plate fixed to the bottom of a parking fixed beam on the top of the charging base station; a clamping box adapter plate fixed to the side of the parking fixed beam, and positioning grooves fixed to both sides of the positioning clamping block, wherein the clamping box adapter plate is fixedly connected to the parking fixed beam on the top of the charging base station through the adapter plate, and the positioning groove, the positioning clamping block, the clamping box adapter plate and the adapter plate are fixedly connected as a whole.

[0015] A third aspect of the present invention provides a rail-holding and locking type rail-hanging robot, which is capable of traveling along a traveling guide rail, and a rail-holding and locking mechanism according to the first aspect of the present invention is installed on the body of the rail-hanging robot.

[0016] In summary, the beneficial effects of the present invention are at least in the following aspects:

[0017] 1. The rail-holding locking mechanism for the rail-hanging robot provided by the present invention has a simple structure and is easy to maintain; the transmission chain is composed of a ball screw and a connecting rod mechanism, has a large holding force, and has a good locking effect.

[0018] 2. The rail-holding locking mechanism for a rail-mounted robot provided by the present invention has a structure in which the connecting rod mechanism has both clamping and rising movement modes, and can simultaneously complete the functions of clamping and centering, power supply and signal transmission; and the connecting rod mechanism is symmetrical on the left and right, so that when the robot positioning has deviations, the symmetry can be used to achieve the effect of automatic correction of position deviations.

[0019] 3. The rail-holding locking mechanism for the rail-hanging robot provided by the present invention can form a stable structure between the rail-hanging robot and the vertical parking fixed beam and the transverse rail, thereby avoiding vertical shaking and deformation caused by the pushing mechanism pushing the host when docking with the charging base station and offsetting the vertical outward thrust generated during docking. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] 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.

[0021] Figure 1 A schematic structural diagram of a rail-holding locking mechanism for a rail-hanging robot according to the present invention is shown;

[0022] Figure 2 A schematic diagram showing the docking of the rail-holding locking mechanism for the rail-hanging robot according to the present invention with the parking fixed beam.

[0023] Description of Reference Numerals

[0024] 1: driving mechanism; 101: sensor plate; 102: horizontal slide; 103: horizontal guide rail; 104: ball screw; 105: bearing seat; 106: coupling; 2: connecting rod mechanism; 201: centering connecting rod; 202: rising connecting rod; 203: upper parallel connecting rod; 204: lower parallel connecting rod; 205: driving connecting rod; 206: connecting rod base; 207: ball bearing and transmission shaft; 3: sliding upper Lifting mechanism; 301: spring pin; 302: lifting rod connecting piece; 303: pin base plate; 304: lifting sliding base; 305: lifting guide rail; 306: lifting slide; 4: clamping and centering mechanism; 401: positioning block; 402: positioning groove; 403: positioning clamping block; 404: clamping box adapter plate; 405: adapter plate; 5: position sensor; 6: base; 7: side plate; 8: parking fixed beam. DETAILED DESCRIPTION

[0025] The exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative configuration of the components, digital representations and numerical values ​​described in these embodiments does not limit the scope of the present invention. For simplicity, the same structural parts or steps are used with the same marks or numbers, and their description is omitted.

[0026] The following reference Figure 1 and Figure 2 The structure of the rail-hanging robot and the rail-holding locking mechanism for the rail-hanging robot of the present invention is described. The rail-hanging robot of the present invention can travel along a walking rail, and a charging base station is arranged along the walking rail. The rail-hanging robot includes a body and a rail-holding locking mechanism assembled on the body.

[0027] [Structure of the rail locking mechanism]

[0028] Specifically, the track-holding locking mechanism according to the present invention includes: a driving mechanism 1 that outputs a driving force, a connecting rod mechanism 2 driven by the driving mechanism 1, and a clamping and centering mechanism 4. When the driving mechanism 1 drives the connecting rod mechanism 2 so that the top end of the connecting rod mechanism 2 moves toward the center of the driving mechanism 1, the connecting rod mechanism 2 drives the clamping and centering mechanism 4 to lock the parking fixed beam 8 of the charging base station. Among them, the clamping and centering mechanism 4 includes a positioning block 401 fixed to the top of the connecting rod mechanism and a positioning groove 402 fixed to the bottom side of the parking fixed beam of the charging base station, and the relative portion of the positioning groove 402 and the positioning block and the relative portion of the positioning block 401 and the positioning groove 402 have shapes that match each other. As a preferred embodiment, the relative portion of the positioning block 401 and the positioning groove 402 is a protruding V-shaped structure, and the relative portion of the positioning groove 402 and the positioning block is a recessed V-shaped structure. Obviously, the present invention is not limited to this, and the relative parts of the positioning block 401 and the positioning groove 402 can also adopt other shapes such as U-shaped, sawtooth-shaped, etc. that can mesh with each other (the positioning block 401 tightly embraces the positioning groove 402) to form a locking shape. In addition, the axis of the parking fixed beam 8 of the charging base station is perpendicular to the motion trajectory of the connecting rod mechanism.

[0029] In addition, as a preferred embodiment, the rail-holding locking mechanism may also include a sliding and rising mechanism 3, which is installed at the center of the connecting rod mechanism 2 and is hinged with the connecting rod mechanism 2. When the driving mechanism 1 drives the connecting rod mechanism 2 and makes the top of the connecting rod mechanism 2 move toward the center of the driving mechanism 1, the connecting rod mechanism 2 drives the sliding and rising mechanism 3 to move vertically upward, so that the sliding and rising mechanism 3 contacts the communication and power supply components on the charging base station side installed under the parking fixed beam 8, so as to enable power supply and information transmission.

[0030] In addition, as a preferred embodiment, the rail locking mechanism may further include: a base 6 arranged at the bottom of the mechanism, a bearing seat 105 fixedly connected to the base 6, side plates 7 clamped on the inner and outer sides (front and rear sides) of the connecting rod mechanism and the sliding lifting mechanism, and two pairs of position sensors 5 arranged on the bearing seat 105 and at the bottom of the side plates 7 on the front and rear sides of the sliding lifting mechanism. Figure 2 As shown, the front-rear direction (inside-outside direction) refers to the direction along the axis of the parking fixed beam 8 .

[0031] The specific structures of the driving mechanism 1, the connecting rod mechanism 2, the sliding and rising mechanism 3 and the clamping and centering mechanism 4 are described in detail below.

[0032] [Structure of the driving mechanism 1]

[0033] The driving mechanism 1 includes a driving motor, a ball screw 104 driven by the driving motor, and a horizontal slide 102 driven by the ball screw, wherein the horizontal slide 102 is fixedly connected to the connecting rod mechanism 2. Preferably, the driving mechanism 1 also includes a horizontal guide rail 103 fixedly connected to the base 6, and the horizontal slide 102 can move along the horizontal guide rail 103 under the drive of the driving motor.

[0034] As a preferred embodiment, the driving motor adopts a stepper motor, and the driving mechanism 1 includes two groups of symmetrical stepper motors and ball screws 104 arranged on both sides of the driving mechanism 1. In addition, the driving mechanism 1 may also include: two pairs of position sensors 5 arranged on the bearing seat 105 and at the bottom of the side plates 7 on the front and rear sides of the sliding lifting mechanism; and a sensor sensing plate 101 arranged between each pair of position sensors 5 and fixedly connected to the horizontal slide 102. The cross-section of the sensor sensing plate 101 is U-shaped, and has protrusions extending outward perpendicularly to the main plate surface at the left and right ends. In the assembled state, the main plate surface of the sensor sensing plate is assembled on the side of the horizontal slide in a state perpendicular to the base, so that the position sensor 5 can obtain the current limit information and feed it back to the control system (or server) for controlling the rail holding locking mechanism to end the clamping or end the release. Among them, the limit information indicates that the rail holding locking mechanism forms a clamping state or a release state. For example, during the execution of the clamping action, if the position sensor fixed to the side plate 7 detects the protrusion of the sensor sensing plate 101 close to the center side of the mechanism, limit information indicating that the clamping state has been formed is sent to the control system to control the drive motor to stop the locking action; and during the execution of the release action, if the position sensor fixed to the bearing seat 105 detects the protrusion of the sensor sensing plate 101 located on the outside of the mechanism (the left and right ends), limit information indicating that the clamping state has been released is sent to the control system to control the drive motor to stop the release action.

[0035] exist Figure 1 and Figure 2 In the embodiment shown, the horizontal guide rail 103 in the driving mechanism 1 is connected to the base 6 by bolts, and the sensor plate 101 and the horizontal slide 102 are fixedly connected by bolts. It is shown that the present invention is not limited to this, and other fixed connection methods such as riveting, bonding, key pin connection and snap connection can also be used between the above components.

[0036] In the working state, the horizontal slide 102 is driven by the lead screw 104 and moves left and right along the horizontal guide rail 103. Since the sensor sensing plate 101 is fixedly connected to the horizontal slide 102, the sensor sensing plate 101 moves synchronously. The protrusions on the left and right sides of the sensor sensing plate 101 block the signal of the sensor 5, thereby obtaining the position information.

[0037] In addition, the driving mechanism 1 can also include a coupling 106 and a bearing seat 105, wherein the power of the driving mechanism 1 is transmitted to the screw 104 and the horizontal slide 102 by the coupling 106 connected to the stepper motor, and the screw 104 is connected to the base 6 through the bearing seat 105.

[0038] [Structure of the link mechanism 2]

[0039] The connecting rod mechanism 2 includes two groups of symmetrical five-bar connecting rods, each of which includes: a driving connecting rod 205, two groups of parallel connecting rods (a lower group of upper parallel connecting rods 203 and a lower group of lower parallel connecting rods 204), a centering connecting rod 201 and a rising connecting rod 202. Among them, the lower parallel link 204 is hinged to the driving link 205, and the hinge point is located in the middle of the lower parallel link 204; the rising link 202 is hinged to the upper parallel link 203, and the hinge point is located in the middle of the upper parallel link 203; the upper ends of the upper parallel link 203 and the lower parallel link 204 are both hinged to the centering link 201; the lower ends of the upper parallel link 203 and the lower parallel link 204 are both fixedly connected to the side plate 7; the end of the centering link 201 that is not hinged to the upper ends of the upper and lower parallel links is assembled (fixedly connected) with a positioning block 401 for clamping the centering mechanism 4; the other end of the rising link 202 (the end that is not hinged to the upper parallel link 203) is hinged to the rising slide 306.

[0040] In the present disclosure, the articulation between the components of the connecting rod mechanism 2 adopts an articulation in which a rolling bearing cooperates with a transmission shaft. As a preferred solution, the components are articulated with the transmission shaft 207 through a ball bearing.

[0041] In addition, the connecting rod mechanism 2 also includes a connecting rod base 206, which is fixedly connected to the horizontal slide 102 and is preferably hinged to the driving connecting rod 205 through a ball bearing and a transmission shaft 207. As a preferred embodiment, the lower parallel connecting rod 204 and the upper parallel connecting rod 203 are both composed of two identical connecting rods. The rising connecting rod 202 and the rising rod connecting member 302 in the sliding rising mechanism 3 are hinged to the transmission shaft 207 through a ball bearing.

[0042] When performing the locking (holding) action, the horizontal slide 102 drives the connecting rod base 206 to move toward the center of the rail holding locking mechanism, and the upper parallel connecting rod 203 and the lower parallel connecting rod 204 are driven by the driving connecting rod 205, so that the upper ends of the upper parallel connecting rod 203 and the lower parallel connecting rod 204 move toward the center of the rail holding locking mechanism, and at the same time, the centering connecting rod 201 moves vertically upward and translates toward the center of the mechanism. The end of the rising connecting rod 202 is restricted by the rising rod connecting member 302, so it can produce vertical upward movement.

[0043] When performing the unlocking (releasing) action, the horizontal slide 102 drives the connecting rod base 206 to move from the center of the rail holding locking mechanism to the left and right ends of the mechanism, and the upper parallel connecting rod 203 and the lower parallel connecting rod 204 are driven by the driving connecting rod 205, so that the upper ends of the upper parallel connecting rod 203 and the lower parallel connecting rod 204 move to the left and right ends of the rail holding locking mechanism, and at the same time, the centering connecting rod 201 moves vertically downward and translates to the left and right ends of the rail holding locking mechanism. The end of the rising connecting rod 202 can generate vertical downward movement due to the restriction of the rising rod connecting member 302.

[0044] [Structure of the sliding lifting mechanism 3]

[0045] like Figure 1 As shown, the sliding and ascending mechanism 3 includes: an ascending slide 306, an ascending guide rail 305, an ascending sliding base 304, a pin bottom plate 303, an ascending rod connecting piece 302 and a spring pin 301. Among them, the ascending slide 306 is fixedly connected to the side plate 7, the ascending guide rail 305 is fixedly connected to the ascending sliding base 304 and can slide vertically along the ascending slide 306, and the top of the ascending sliding base 304 is equipped with a pin bottom plate 303, on which a spring pin 301 is vertically and retractably installed. The spring pin 301 is connected to the power supply and communication lines in the rail-hanging robot body to play the role of signal transmission and power supply.

[0046] As a preferred method, Figure 1 and Figure 2 In the illustrated embodiment, the number of spring pins 301 is four. Obviously, the number of spring pins 301 is not limited thereto. Depending on the structure of the power supply and communication lines in the rail-hanging robot body, the number of spring pins 301 may also be six, eight, or other numbers.

[0047] In addition, the left and right sides of the ascending sliding base 304 are hinged to the ascending connecting rod 202 through the fixed ascending rod connecting piece 302, and as a preferred method, the hinge is realized through a ball bearing and a transmission shaft 207. And the ascending connecting rod 202 of the connecting rod mechanism 2 and the ascending rod connecting piece 302 in the sliding ascending mechanism 3 are hinged to the transmission shaft 207, for example, through a ball bearing. And as a preferred method, the ascending slide 306 can be fixed to the side plate 7.

[0048] As a preferred solution, Figure 1As shown, the rising rod connecting piece 302, the pin base plate 303, the rising sliding base 304, and the rising guide rail 305 in the sliding rising mechanism 3 can be connected into a whole by bolts, for example, so that as the horizontal slide 102 moves toward the center of the rail locking mechanism, the rising connecting rod 202 is driven, so that the above-mentioned overall structure moves vertically upward along the rising slide 306, and as the horizontal slide 102 moves from the center of the rail locking mechanism to the outside (towards the left and right ends), the rising connecting rod 202 is driven, so that the above-mentioned overall structure moves vertically downward along the rising slide 306.

[0049] [Structure of the clamping and centering mechanism 4]

[0050] The clamping and centering mechanism 4 includes: two sets of symmetrical positioning blocks 401 and positioning grooves 402, positioning clamping blocks 403, clamping box adapter plates 404 and adapter plates 405. Among them, the positioning clamping blocks 403 and adapter plates 405 are fixed to the bottom of the parking fixed beam (8), and the clamping box adapter plates 404 are fixed to the side of the parking fixed beam, the positioning groove 402 is fixed to the bottom of the positioning clamping blocks 403 and the clamping box adapter plates 404, and the clamping box adapter plates 404 are fixed to the parking fixed beam 8 on the top of the charging base station through the adapter plates 405. The positioning blocks 401 and the positioning grooves 402 are complementary in shape and cooperate with each other to mesh with each other (the positioning blocks 401 hold the positioning grooves 402 tightly) to form a lock.

[0051] Among them, a power supply and communication module on the base station side is assembled in the positioning clamping block 403, and the power supply and communication module on the base station side is plugged into the spring pin 301 of the sliding lifting mechanism 3. After the sliding lifting mechanism 3 moves upward and the spring pin 301 contacts the power supply and communication module on the base station side, the spring pin 301 can be plugged into the power supply and communication module on the base station side to realize power supply and communication between the rail-hanging robot of the present invention and the charging base station.

[0052] As a preferred solution, Figure 1 and Figure 2 As shown, the shape of the adapter plate 405 is L-shaped, but the present invention is not limited thereto. According to the width of the parking fixed beam 8 and / or the size of the positioning clamping block 403 and the clamping box adapter plate 404, the adapter plate 405 may also adopt other shapes, such as columnar, Z-shaped or U-shaped. In addition, the installation position of the adapter plate 405 may be adjusted in the direction along the parking fixed beam 8.

[0053] In addition, in the clamping and centering mechanism 4, the positioning groove 402 docked with the positioning block 401 and its fixed installation components (the positioning clamping block 403, the clamping box adapter plate 404 and the adapter plate 405) constitute the locking docking mechanism of the rail hanging mechanism of the present invention. Specifically, the locking docking mechanism includes the positioning groove 402, the positioning clamping block 403, the clamping box adapter plate 404 and the adapter plate 405.

[0054] When performing the clamping action, the horizontal slide 102 drives the connecting rod base 206 to move toward the center of the rail-holding locking mechanism, and the positioning block 401 is driven by the centering rod 201 to approach and contact the positioning groove 402, and under the pressure applied by the centering rod 201 toward the center of the mechanism, the positioning block 401 and the positioning groove 402 cooperate with each other and engage with each other, and form a fixed structure (the positioning block 401 clamps the positioning groove 402) through friction force, so as to realize the locking of the rail-mounted robot relative to the charging base station.

[0055] On the other hand, when executing the unlocking (liberation) action, the horizontal slide 102 drives the connecting rod base 206 to move toward the outside (left and right ends) of the track-holding locking mechanism, and the positioning block 401 is disengaged from the positioning groove 402 (releases the positioning groove 402) under the drive of the centering rod 201, and the positioning block 401 is separated from the positioning groove 402, and the positioning block 401 moves to the outside of the mechanism, thereby releasing the lock of the track-holding robot relative to the charging base station.

[0056] To sum up, the track-holding locking mechanism and locking docking device of the present invention can drive the connecting rod mechanism 2 to drive the clamping and centering mechanism 4 under the drive of the driving mechanism, so that it can form a fixed structure to hold and lock it in the target position of the parking fixed beam 8, and at the same time make the sliding lifting mechanism 3 move in the vertical direction and realize power supply and communication after docking with the charging base station.

[0057] The rail-holding locking mechanism, locking docking mechanism and rail-holding robot for the rail-holding robot of the present invention have the following advantages: simple structure and easy maintenance; the transmission chain is composed of a ball screw and a connecting rod mechanism, with large holding force and good locking effect; it has clamping and rising movement modes, and can simultaneously complete the functions of holding centering, power supply and signal transmission; the connecting rod mechanism is symmetrical on the left and right, and if the robot positioning has deviations, the symmetry can be used to realize automatic correction of the position deviation; the present invention forms a stable structure of the robot and the vertical parking fixed beam and the transverse track, avoiding vertical shaking and deformation caused by the pushing mechanism when the host and the base station are pushed for docking, and offsetting the vertical outward thrust generated during docking.

[0058] Although the present invention has been described above with reference to exemplary embodiments, the above embodiments are only for illustrating the technical concept and features of the present invention and cannot be used to limit the protection scope of the present invention. Any equivalent variations or modifications made according to the spirit and essence of the present invention should be included in the protection scope of the present invention.

Claims

1. A rail-holding locking mechanism for a rail-mounted robot, wherein the rail-mounted robot can travel along a travel rail, and a charging base station is arranged along the travel rail, wherein: The rail holding locking mechanism comprises: A driving mechanism (1) mounted on the top of the rail-hanging robot comprises a ball screw (104), a driving motor for driving the ball screw, and a horizontal slide table (102) driven by the ball screw; A connecting rod mechanism (2) fixedly connected to the horizontal slide of the driving mechanism; a sliding lifting mechanism (3) installed at the center of the connecting rod mechanism and hingedly connected to the connecting rod mechanism; and A clamping and centering mechanism (4) is respectively fixed to the top end of the connecting rod mechanism and the parking fixed beam of the charging base station, The clamping and centering mechanism (4) comprises a positioning block (401) fixed to the top end of the connecting rod mechanism and a positioning groove (402) fixed to the bottom side of the parking fixed beam at the top of the charging base station and having a shape matching the relative position of the positioning block, and When the horizontal slide is driven to move toward the center of the rail-holding locking mechanism, the driving mechanism drives the top end of the connecting rod mechanism to move toward the center, so that the positioning block and the positioning groove of the clamping and centering mechanism are close to the clamping positioning groove to form a lock, and at the same time the sliding and lifting mechanism moves vertically upward.

2. The rail-holding locking mechanism according to claim 1, characterized in that: The rail-holding locking mechanism also includes a base (6) arranged at the bottom and side plates (7) clamped on the front and rear sides of the connecting rod mechanism and the sliding lifting mechanism.

3. The rail-holding locking mechanism according to claim 2, characterized in that: The rail-holding locking mechanism further comprises: a bearing seat (105) fixedly connected to the base; and two pairs of position sensors (5) respectively fixedly connected to the bearing seat and to the bottom of the side plates at the front and rear sides of the sliding lifting mechanism. The driving mechanism further comprises a sensor induction plate (101) arranged between each pair of position sensors and fixedly connected to the horizontal slide table. The sensor plate has a U-shaped cross section and has protrusions extending outward perpendicularly to the main plate surface at both ends. In the assembled state, the main plate surface of the sensor plate is assembled on the side of the horizontal slide in a state perpendicular to the base, so that the position sensor (5) can obtain limit information indicating the formation of a clamping state or a release state for controlling the end of clamping or the end of release of the rail locking mechanism.

4. The rail-holding locking mechanism according to claim 1 or 2, characterized in that: The link mechanism comprises two groups of symmetrical five-link mechanisms, each group of five-link mechanisms comprises: a driving link (205), two groups of parallel links (203, 204), a centering rod (201) and a rising link (202). The two groups of parallel connecting rods include a group of upper parallel connecting rods (203) and a group of lower parallel connecting rods (204).

5. The rail-holding locking mechanism according to claim 3, characterized in that: The driving mechanism also includes a horizontal guide rail (103) fixedly connected to the base, wherein the horizontal slide table slides horizontally along the horizontal guide rail under the drive of the driving motor.

6. The rail-holding locking mechanism according to claim 3, characterized in that: The connecting rod mechanism also includes a connecting rod base (206) fixedly connected to the horizontal slide, and the driving rod is connected to the horizontal slide via the connecting rod base. The lower parallel link (204) is hinged to the driving link, and the hinge point is located in the middle of the lower parallel link; the upper parallel link (203) is hinged to the rising link, and the hinge point is located in the middle of the upper parallel link; the upper ends of the upper and lower parallel links are hinged to the centering link, and the lower ends of the upper and lower parallel links are hinged to the side plates; the end of the centering link that is not hinged to the upper ends of the two sets of parallel links is equipped with a positioning block. Furthermore, when the horizontal slide drives the connecting rod base to move toward the center of the rail locking mechanism, the upper ends of the upper parallel connecting rod and the lower parallel connecting rod are driven by the driving connecting rod to move toward the center, so that the centering connecting rod moves vertically upward and translates toward the center.

7. The rail-holding locking mechanism according to claim 3, characterized in that: The sliding lifting mechanism comprises: A rising slide (306) fixedly connected to the side plate; An ascending guide rail (305) capable of vertically sliding along the ascending slide; An ascending sliding base (304) fixedly connected to the ascending guide rail; A pin base plate (303) mounted on the top of the ascending sliding base; A spring pin (301) vertically and telescopically mounted on a pin base plate; and a rising rod connecting member (302) hinged to the rising connecting rod, Among them, the left and right sides of the rising sliding base are fixedly connected to the rising rod connecting piece, and the rising rod connecting piece, the pin base plate, the rising sliding base and the rising guide rail are connected to form an integral structure, which can drive the rising connecting rod to move vertically upward along the rising slide as the horizontal slide moves toward the center of the rail locking mechanism.

8. The rail-holding locking mechanism according to claim 1 or 2, characterized in that: The clamping and centering mechanism also includes: A positioning clamping block (403) and an adapter plate (405) fixed to the bottom of a parking fixed beam (8) at the top of the charging base station; and A clamping box adapter plate (404) fixed to the side of the parking fixed beam, Among them, the positioning grooves are fixed on both sides of the positioning clamping block, and the clamping box adapter plate is fixedly connected to the parking fixed beam on the top of the charging base station through the adapter plate.

9. A locking docking mechanism for a rail-mounted robot, wherein the rail-mounted robot can travel along a travel guide rail, and a charging base station is arranged along the travel guide rail, wherein: The rail-holding locking and docking mechanism comprises: A positioning clamping block (403) and an adapter plate (405) fixed to the bottom of a parking fixed beam (8) at the top of the charging base station; A clamping box adapter plate (404) fixed to the side of the parking fixed beam, The positioning grooves (402) are fixed on both sides of the positioning clamping block. Among them, the clamping box adapter plate is fixedly connected to the parking fixed beam on the top of the charging base station through the adapter plate, and the positioning groove, the positioning clamping block, the clamping box adapter plate and the adapter plate are fixedly connected as a whole.

10. A rail-holding locking type rail-hanging robot, which can move along a walking guide rail, characterized in that: The main body of the rail-hanging robot is equipped with a rail-holding locking mechanism as described in any one of claims 1 to 8.

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