Rail-holding locking mechanism, locking docking mechanism and rail-hanging robot

Abstract

The present application provides a rail holding locking mechanism, a locking docking mechanism and a rail hanging robot. The rail hanging robot can travel along a walking guide rail, and a charging base station is arranged along the line. The rail holding locking mechanism comprises a driving mechanism including a ball screw, a driving motor and a horizontal sliding table driven by the ball screw; a connecting rod mechanism fixed to the horizontal sliding table of the driving mechanism; a sliding lifting mechanism installed at the center of the connecting rod mechanism and connected to the connecting rod mechanism; and a clamping centering mechanism, wherein the clamping 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 the parking fixed beam of the charging base station, and when the horizontal sliding table is driven to move to the center of the rail holding locking mechanism, the driving mechanism drives the top end of the connecting rod mechanism to move to the center, so that the positioning block of the clamping centering mechanism tightly holds the positioning groove to form a lock, and the sliding lifting mechanism vertically moves upward.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of rail-mounted robots, and in particular to a rail-holding locking mechanism and a locking docking device for rail-mounted robots. BACKGROUND

[0002] In recent years, with the continuous progress of intelligent and automated technologies, rail-mounted robots have been widely applied in industrial production, logistics transportation and other fields. These robots run on designated tracks through a rail-mounted mode, which can achieve efficient material handling and operation. However, in actual applications, the rail-holding locking mechanism of rail-mounted robots has some problems to be solved.

[0003] The existing rail-mounted robot technology has certain limitations in the design of the rail-holding locking mechanism. Traditional rail-mounted robots usually rely on mechanical clamps or friction to achieve rail-holding locking. Although this method has a simple structure and low manufacturing cost, it has many shortcomings in actual applications. First, the mechanical clamp type rail-holding locking mechanism is prone to locking failure under complex working conditions, which can cause the robot to derail or slide on the track, seriously affecting the safety and stability of the operation. For example, when the robot approaches the mechanical clamp type rail-holding locking mechanism, due to positioning errors or workspace limitations, the chassis does not fully decelerate, resulting in a locking failure. Second, the friction type rail-holding locking mechanism is prone to failure after the track wears, reducing the working efficiency and reliability of the robot. In addition, the existing rail-mounted robots usually lack adaptive ability and cannot adjust according to the actual state of the track, further limiting their application scenarios.

[0004] In view of the problems and defects in the prior art, some researchers and enterprises have tried to improve the structural design of rail-mounted robots to improve their performance. For example, a rail-mounted robot is described in Chinese Patent No. CN221496135U, which attempts to solve the rail-holding problem by using a sliding wheel set and a suspension driving mechanism, but it does not completely solve the rail-holding problem of rail-mounted robots in complex scenarios. In the case of low positioning accuracy or installation errors, there will be a positional deviation between the docking structure of the on-track and the docking structure of the robot body, which will still result in a locking failure.

[0005] Therefore, the rail-holding locking mechanism of the existing rail-mounted robots has the defects of low reliability and poor adaptability, which is difficult to meet the increasingly complex application requirements. In particular, in scenarios involving high safety and stability, the existing technology still cannot provide a satisfactory solution. Therefore, there is an urgent need for a new rail-holding locking mechanism for rail-mounted robots that can effectively improve the locking reliability and enhance the adaptability to better cope with various complex application scenarios. SUMMARY

[0006] In order to overcome the above problems of the existing track-hung robot track-holding locking mechanism, the present application aims to provide a track-hung robot track-holding locking mechanism, a locking docking mechanism and a track-hung robot capable of effectively improving locking reliability and having strong adaptive ability.

[0007] The first aspect of the present application provides a track-hung robot track-holding locking mechanism, which can travel along a walking guide rail, and a charging base station is arranged along the line of the walking guide rail, wherein the track-holding locking mechanism comprises: a driving mechanism mounted on the top of the track-hung robot, which comprises a ball screw, a driving motor driving the ball screw and a horizontal sliding table driven by the ball screw; a connecting rod mechanism fixedly connected with the horizontal sliding table of the driving mechanism; a sliding lifting mechanism arranged at the center of the connecting rod mechanism and hinged with the connecting rod mechanism; and a clamping centering mechanism fixed to the top end of the connecting rod mechanism and the parking fixed beam of the charging base station, respectively, wherein the clamping 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 the parking fixed beam of the charging base station, and the positioning block and the positioning groove are close to each other to form a locking state when the horizontal sliding table is driven to move towards the center of the track-holding locking mechanism, and the sliding lifting mechanism moves vertically upward at the same time.

[0008] Preferably, the track-holding locking mechanism according to the present application further comprises a base arranged at the bottom and side plates clamped on the front and rear sides of the connecting rod mechanism and the sliding lifting mechanism.

[0009] Preferably, the track-holding locking mechanism according to the present application further comprises a bearing seat fixedly connected to the base and two pairs of position sensors 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 further comprises a sensor sensing plate arranged between the two pairs of position sensors and fixedly connected to the horizontal sliding table, wherein the cross section of the sensor sensing plate is U-shaped, and the left and right ends of the sensor sensing plate have protrusions extending outwardly perpendicular to the plate surface of the main body, and in the assembled state, the plate surface of the main body of the sensor sensing plate is assembled on the side of the horizontal sliding table in a perpendicular state to the base, so that the position sensors can obtain limit information indicating the formation of a holding state or a release state for controlling the end of holding or the end of releasing of the track-holding locking mechanism.

[0010] Preferably, in the track-holding locking mechanism according to the present application, the connecting rod mechanism comprises two groups of symmetrical five-link mechanisms, each group of five-link mechanisms comprising: one driving link, two groups of parallel links, one centering link and one lifting link, wherein the two groups of parallel links comprise an upper group of upper parallel links and a lower group of lower parallel links.

[0011] Preferably, in the rail-holding locking mechanism according to the present application, the driving mechanism further comprises a horizontal guide rail fixed to the base, wherein the horizontal sliding table horizontally slides along the horizontal guide rail under the driving of the driving motor.

[0012] Preferably, in the rail-holding locking mechanism according to the present application, the connecting rod mechanism further comprises a connecting rod base fixed to the horizontal sliding table, the driving connecting rod is connected to the horizontal sliding table through the connecting rod base, wherein the lower parallel connecting rod is hinged to the driving connecting rod, and the hinge point is located in the middle of the lower parallel connecting rod, the upper parallel connecting rod is hinged to the rising connecting rod, and the hinge point is located in the middle of the upper parallel connecting rod, the upper ends of the upper and lower parallel connecting rods are hinged to the centering connecting rod, and the lower ends of the upper and lower parallel connecting rods are hinged to the side plate, the end of the centering connecting rod which is not hinged to the upper ends of the two groups of parallel connecting rods is provided with a positioning block, and when the horizontal sliding table drives the connecting rod base to move towards the center of the rail-holding locking mechanism, the upper ends of the upper and lower parallel connecting rods are driven by the driving connecting rod to move towards the center, so that the centering connecting rod moves vertically upwards and translates towards the center.

[0013] Preferably, in the rail-holding locking mechanism according to the present application, the sliding rising mechanism comprises: a rising sliding table fixed to the side plate; a rising guide rail capable of vertically sliding along the rising sliding table; a rising sliding base fixed to the rising guide rail; a pin base plate assembled on the top of the rising sliding base; a spring pin vertically and telescopically assembled on the pin base plate; and a rising rod connector hinged to the rising connecting rod, wherein the left and right sides of the rising sliding base are fixed to the rising rod connector, and the rising rod connector, the pin base plate, the rising sliding base and the rising guide rail are connected into an integral structure, which can drive the rising connecting rod to move the integral structure vertically upwards along the rising sliding table as the horizontal sliding table moves towards the center of the rail-holding locking mechanism. Preferably, in the rail-holding locking mechanism according to the present application, the clamping and centering mechanism further comprises: a positioning clamping block and an adapter plate fixed to the bottom of the parking fixed beam on the top of the charging base; and a clamping box adapter plate fixed to the side surface of the parking fixed beam, wherein positioning grooves are fixed to the two sides of the positioning clamping block, and the clamping box adapter plate is fixed to the parking fixed beam on the top of the charging base through the adapter plate.

[0014] In a second aspect of the present application, a locking docking mechanism for a rail-hanging robot is provided, the rail-hanging robot being capable of traveling along a walking guide rail, and a charging base being arranged along the walking guide rail, wherein the rail-holding locking docking mechanism comprises: a positioning clamping block and an adapter plate fixed to the bottom of the parking fixed beam on the top of the charging base; a clamping box adapter plate fixed to the side surface of the parking fixed beam; and positioning grooves fixed to the two sides of the positioning clamping block, wherein the clamping box adapter plate is fixed to the parking fixed beam on the top of the charging base through the adapter plate, and the positioning grooves, the positioning clamping block, the clamping box adapter plate and the adapter plate are fixed into an integral structure.

[0015] In a third aspect, the present application provides a rail-holding locking type rail-hanging robot capable of moving along a walking guide rail, the body of the rail-hanging robot being provided with the rail-holding locking mechanism according to the first aspect of the present application.

[0016] In summary, the present application has at least the following advantages:

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

[0018] 2. The rail-holding locking mechanism for the rail-hanging robot provided by the present application has a structure in which the connecting rod mechanism has both clamping and lifting movement modes, and can simultaneously complete the functions of holding and centering, power supply and signal transmission; and the connecting rod mechanism is left-right symmetrical, so that when the robot is positioned with deviation, the symmetrical property can be used to automatically correct the position deviation.

[0019] 3. The rail-holding locking mechanism for the rail-hanging robot provided by the present application can form a stable structure of the rail-hanging robot and the vertical parking fixed beam and the transverse track, and avoid the vertical shaking, deformation and counteracting of the vertical outward thrust when the pushing mechanism pushes the main machine to dock with the charging base station. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor based on these drawings.

[0021] Figure 1 Fig. 1 shows a structural schematic diagram of a rail-holding locking mechanism for a rail-hanging robot according to the present application;

[0022] Figure 2 Fig. 2 shows a schematic diagram of the rail-holding locking mechanism for the rail-hanging robot according to the present application and a parking fixed beam in docking.

[0023] MARKED DESCRIPTION

[0024] 1: Drive mechanism; 101: Sensor plate; 102: Horizontal slide; 103: Horizontal guide rail; 104: Ball screw; 105: Bearing housing; 106: Coupling; 2: Linkage mechanism; 201: Centering link; 202: Lifting link; 203: Upper parallel link; 204: Lower parallel link; 205: Drive link; 206: Linkage base; 207: Ball bearing and drive shaft; 3: Sliding upper... Lifting mechanism; 301: Spring pin; 302: Lifting rod connector; 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 fixing beam. Detailed Implementation

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

[0026] The following is for reference Figure 1 and Figure 2 The structure of the rail-mounted robot and the rail-clamping locking mechanism for the rail-mounted robot of the present invention will be described. The rail-mounted robot of the present invention is capable of traveling along a guide rail, and a charging base station is arranged along the guide rail. The rail-mounted robot includes a body and a rail-clamping locking mechanism mounted on the body.

[0027] [Structure of the rail-locking mechanism]

[0028] Specifically, the rail locking mechanism according to the present application comprises a driving mechanism 1 for outputting driving force, a connecting rod mechanism 2 driven by the driving mechanism 1, and a clamping centering mechanism 4. When the driving mechanism 1 drives the connecting rod mechanism 2 to move the top end of the connecting rod mechanism 2 towards the center of the driving mechanism 1, the connecting rod mechanism 2 drives the clamping centering mechanism 4 to lock the parking fixed beam 8 of the charging base station. The clamping 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 of the charging base station, and the opposite part of the positioning block 401 to the positioning groove 402 and the opposite part of the positioning groove 402 to the positioning block 401 have matching shapes. As a preferred embodiment, the opposite part of the positioning block 401 to the positioning groove 402 is in a protruding V-shaped structure, and the opposite part of the positioning groove 402 to the positioning block is in a recessed V-shaped structure. Obviously, the present application is not limited to this, and the opposite parts of the positioning block 401 and the positioning groove 402 can also adopt other shapes such as U-shaped, zigzag-shaped, etc. that can engage with each other (the positioning block 401 clamps the positioning groove 402) to form locking. In addition, the axis of the parking fixed beam 8 of the charging base station is perpendicular to the movement track of the connecting rod mechanism.

[0029] In addition, as a preferred embodiment, the rail locking mechanism can further comprise a sliding lifting mechanism 3 arranged at the center of the connecting rod mechanism 2 and hinged to the connecting rod mechanism 2. When the driving mechanism 1 drives the connecting rod mechanism 2 to move the top end of the connecting rod mechanism 2 towards the center of the driving mechanism 1, the connecting rod mechanism 2 drives the sliding lifting mechanism 3 to move vertically upwards, so that the sliding lifting mechanism 3 contacts the charging base station side communication and power supply assembly arranged below the parking fixed beam 8 to enable power supply and information transmission.

[0030] In addition, as a preferred embodiment, the rail locking mechanism can further comprise a base 6 arranged at the bottom of the mechanism, a bearing seat 105 fixed to the base 6, side plates 7 clamped on both sides (front and back) of the connecting rod mechanism and the sliding lifting mechanism, and two pairs of position sensors 5 arranged on the bearing seat 105 and the bottom of the side plates 7 on both sides of the sliding lifting mechanism, respectively. Figure 2 It is shown that the front-back 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 lifting mechanism 3, and the clamping centering mechanism 4 are described in detail as follows.

[0032] [Structure of the driving mechanism 1]

[0033] The driving mechanism 1 comprises 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 with the linkage mechanism 2. Preferably, the driving mechanism 1 further comprises a horizontal guide rail 103 fixedly connected with the base 6, and the horizontal slide 102 is capable of moving along the horizontal guide rail 103 under the driving of the driving motor.

[0034] As a preferred embodiment, the driving motor is a step motor, and the driving mechanism 1 comprises two groups of symmetrical step motors and ball screws 104 arranged on both sides of the driving mechanism 1. In addition, the driving mechanism 1 can further comprise two pairs of position sensors 5 arranged on the bearing seat 105 and the bottom of the side plate 7 on both sides of the sliding lifting mechanism, and a sensor sensing plate 101 fixedly connected with the horizontal slide 102 and arranged between the two pairs of position sensors 5. The sensor sensing plate 101 has a U-shaped cross section, and has protrusions extending outwardly and perpendicularly to the main plate surface at both 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 perpendicular manner to the base, so that the position sensor 5 can obtain the current limit information and feed back to the control system (or server) for controlling the rail-holding locking mechanism to end the holding or release. The limit information indicates that the rail-holding locking mechanism is in the holding state or the release state. For example, during the holding operation, if the position sensor fixedly connected to the side plate 7 detects the protrusion on the side close to the center of the mechanism of the sensor sensing plate 101, the limit information indicating that the holding state has been formed is sent to the control system to control the driving motor to stop the locking operation; and during the release operation, if the position sensor fixedly connected to the bearing seat 105 detects the protrusion on the side outside the mechanism (both left and right ends), the limit information indicating that the holding state has been released is sent to the control system to control the driving motor to stop the release operation.

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

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

[0037] In addition, the driving mechanism 1 can further comprise a shaft coupling 106 and a bearing seat 105, wherein the power of the driving mechanism 1 is transmitted to the lead screw 104 and the horizontal sliding table 102 through the shaft coupling 106 connected to the stepping motor, and the lead screw 104 is connected to the base 6 through the bearing seat 105.

[0038] [Structure of the connecting rod mechanism 2]

[0039] The connecting rod mechanism 2 comprises two groups of symmetrical five-link mechanisms, each of which comprises a driving link 205, two groups of parallel links (an upper group of upper parallel links 203 and a lower group of lower parallel links 204), a centering link 201 and a lifting link 202. Among them, the lower parallel link 204 is hinged with the driving link 205, and the hinge point is located in the middle of the lower parallel link 204; the lifting link 202 is hinged with 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 hinged with the centering link 201; the lower ends of the upper parallel link 203 and the lower parallel link 204 are fixedly connected with the side plate 7; the end of the centering link 201 which is not hinged with the upper and lower parallel links is equipped (fixedly connected) with a positioning block 401 of the clamping centering mechanism 4; the other end of the lifting link 202 (the end which is not hinged with the upper parallel link 203) is hinged with the lifting sliding table 306.

[0040] In the present disclosure, the hinging mode between the components of the connecting rod mechanism 2 adopts the hinging mode of the rolling bearing cooperating with the transmission shaft, and as a preferred scheme, the hinging is achieved through the ball bearing and the transmission shaft 207.

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

[0042] When the locking (clamping) action is performed, the horizontal sliding table 102 drives the connecting rod base 206 to move towards the center of the rail clamping locking mechanism, the upper parallel link 203 and the lower parallel link 204 are driven by the driving link 205, so that the upper ends of the upper parallel link 203 and the lower parallel link 204 move towards the center of the rail clamping locking mechanism, and at the same time, the centering link 201 moves vertically upward and translates towards the center of the mechanism. The end of the lifting link 202 can produce vertical upward movement due to the restriction of the lifting rod connecting piece 302.

[0043] When the releasing action is performed, 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 and lower parallel connecting rods 203 and 204 are driven by the driving connecting rod 205, so that the upper ends of the upper and lower parallel connecting rods 203 and 204 move to the left and right ends of the rail-holding locking mechanism, and 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 lifting connecting rod 202 can move vertically downward due to the limitation of the lifting rod connecting piece 302.

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

[0045] As shown in Figure 1 , the sliding lifting mechanism 3 includes a lifting slide 306, a lifting guide rail 305, a lifting sliding base 304, a pin bottom plate 303, a lifting rod connecting piece 302, and a spring pin 301. The lifting slide 306 is fixedly connected to the side plate 7, the lifting guide rail 305 is fixedly connected to the lifting sliding base 304 and can vertically slide along the lifting slide 306, the top of the lifting sliding base 304 is equipped with the pin bottom plate 303, and the spring pin 301 is vertically and telescopically arranged on the pin bottom plate 303. The spring pin 301 is connected to the power supply and communication lines in the rail-mounted robot body to serve as a signal transmission and power supply.

[0046] As a preferred mode, in the embodiment shown in Figure 1 and Figure 2 , the number of spring pins 301 is four. Obviously, the number of spring pins 301 is not limited to this, and according to the structure of the power supply and communication lines in the rail-mounted robot body, the number of spring pins 301 can also be six, eight, or other numbers.

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

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

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

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

[0051] Among them, the base station side power supply and communication module is assembled in the positioning clamping block 403 and is plugged with the spring pin 301 of the sliding lifting mechanism 3. After the sliding lifting mechanism 3 moves upward to make the spring pin 301 contact with the base station side power supply and communication module, the spring pin 301 can be plugged with the base station side power supply and communication module to realize the power supply and communication between the overhead rail robot and the charging base station of the present application.

[0052] As a preferred solution, as shown in Figure 1 and Figure 2 As shown, the adapter plate 405 is L-shaped, and obviously the present application is not limited to this. 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 can also adopt other shapes, such as cylindrical, Z-shaped or U-shaped, etc. In addition, the installation position of the adapter plate 405 can be adjusted in the direction along the parking fixed beam 8.

[0053] In addition, in the clamping centering mechanism 4, the positioning groove 402 and its fixed installation components (the positioning clamping block 403, the clamping box adapter plate 404, and the adapter plate 405) that are in butt joint with the positioning block 401 constitute the locking butt joint mechanism of the overhead rail mechanism of the present application. Specifically, the locking butt joint mechanism includes the positioning groove 402, the positioning clamping block 403, the clamping box adapter plate 404, and the adapter plate 405.

[0054] In the execution of the holding action, the horizontal slide table 102 drives the connecting rod base 206 to move towards the mechanism center of the rail holding and locking mechanism, 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 in the direction of the mechanism center, the positioning block 401 and the positioning groove 402 are engaged with each other and form a fixed connection structure (the positioning block 401 holds the positioning groove 402) through friction, so as to realize the locking of the rail robot relative to the charging base.

[0055] On the other hand, in the execution of the unlocking (release) action, the horizontal slide table 102 drives the connecting rod base 206 to move towards the outside (both ends) of the rail holding and locking mechanism, the positioning block 401 is driven by the centering rod 201 to disengage from the positioning groove 402 (release the positioning groove 402), and the positioning block 401 and the positioning groove 402 are separated, the positioning block 401 moves towards the outside of the mechanism, thereby releasing the locking of the rail robot relative to the charging base.

[0056] In summary, the rail holding and locking mechanism and the locking docking device of the present application can drive the clamping and centering mechanism 4 through the driving of the driving mechanism, so as to form a fixed connection structure to hold and lock at the target position of the parking fixed beam 8, and at the same time, the sliding and rising mechanism 3 moves in the vertical direction and realizes power supply and communication after docking with the charging base.

[0057] The rail holding and locking mechanism, the locking docking mechanism and the rail robot of the present application have the following advantages: simple structure, easy maintenance; the transmission chain is composed of a ball screw and a connecting rod mechanism, the holding force is large, and the locking effect is good; at the same time, it has the movement mode of clamping and rising, and can complete the functions of holding and centering, power supply and signal transmission; the connecting rod mechanism is symmetrical left and right, if the robot positioning has deviation, the symmetry can be used to realize automatic correction of position deviation; the present application forms a stable structure of the robot and the vertical parking fixed beam and the transverse track, avoids the vertical shaking, deformation and counteracting of the vertical outward thrust when the pushing mechanism pushes the main machine to dock with the base.

[0058] Although the present application has been described with reference to the example embodiments, the above embodiments are only for illustrating the technical concept and characteristics of the present application, and cannot limit the protection scope of the present application. Any equivalent variations or modifications made according to the spirit and essence of the present application shall be covered within the protection scope of the present application.

Claims

1. A rail-holding locking mechanism for a rail-hung robot, the rail-hung robot being capable of traveling along a walking rail on which a charging base station is arranged along a line, wherein, The rail-holding locking mechanism comprises: a driving mechanism (1) mounted on the top of the rail-hanging robot, which comprises a ball screw (104), a driving motor for driving the ball screw, and a horizontal sliding table (102) driven by the ball screw; a connecting rod mechanism (2) fixed to the horizontal sliding table of the driving mechanism; a sliding lifting mechanism (3) mounted at the center of the connecting rod mechanism and hinged to the connecting rod mechanism, which comprises spring pins (301) mounted on the top of the sliding lifting mechanism; and a clamping centering mechanism (4) fixed to the top end of the connecting rod mechanism and the parking fixed beam of the charging base, respectively, wherein the connecting rod mechanism comprises two symmetrical five-link mechanisms, each of which comprises a driving link (205), two parallel links (203, 204), a centering rod (201), and a lifting link (202), and the two parallel links comprise an upper parallel link (203) and a lower parallel link (204), wherein the clamping centering mechanism (4) comprises a positioning block (401) fixed to the top end of the connecting rod mechanism and a positioning groove (402) with a matching shape on the opposite side of the positioning block fixed to the bottom side of the parking fixed beam on the top of the charging base, and when the horizontal sliding table is driven to move to the center of the rail-holding locking mechanism, the top end of the connecting rod mechanism is driven by the driving mechanism to move to the center, so that the positioning block of the clamping centering mechanism is close to the positioning groove to form a locking, and the sliding lifting mechanism moves vertically upward, so that the spring pins provided on the top of the sliding lifting mechanism contact the communication and power supply assembly arranged on the side of the charging base below the parking fixed beam.

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

3. The rail-holding locking mechanism according to claim 2, wherein the rail-holding locking mechanism further comprises a bearing seat (105) fixed to the base, and two pairs of position sensors (5) fixed to the bearing seat and the bottom of the side plates on the front and back sides of the sliding lifting mechanism, respectively, the driving mechanism further comprises a sensor sensing plate (101) arranged between each pair of position sensors and fixed to the horizontal sliding table, wherein the cross section of the sensor sensing plate is U-shaped, with protrusions extending outwardly perpendicular to the plate surface at the left and right ends, and in the assembled state, the plate surface of the sensor sensing plate is assembled on the side of the horizontal sliding table in a perpendicular state to the base, so that the position sensors (5) can obtain limit information indicating the formation of a holding state or a release state for controlling the end of holding or the end of releasing of the rail-holding locking mechanism.

4. The rail-hugging locking mechanism according to claim 3, wherein The driving mechanism further comprises a horizontal guide rail (103) fixed to the base, wherein the horizontal sliding table slides horizontally along the horizontal guide rail under the drive of the driving motor.

5. The rail-hugging locking mechanism according to claim 3, wherein The connecting rod mechanism further comprises a connecting rod base (206) fixed to the horizontal sliding table, and the driving link is connected to the horizontal sliding table through the connecting rod base, The lower parallel connecting rod (204) is hinged with the driving connecting rod, and the hinge point is located in the middle of the lower parallel connecting rod. The upper parallel connecting rod (203) is hinged with the lifting connecting rod, and the hinge point is located in the middle of the upper parallel connecting rod. The upper ends of the upper parallel connecting rod and the lower parallel connecting rod are hinged with the centering connecting rod, and the lower ends of the upper parallel connecting rod and the lower parallel connecting rod are hinged with the side plate. The end of the centering connecting rod which is not hinged with the upper ends of the upper parallel connecting rod and the lower parallel connecting rod is provided with a positioning block, When the horizontal sliding table drives the connecting rod base to move towards 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 towards the center, so that the centering connecting rod moves vertically upwards and translates towards the center.

6. The rail-hugging locking mechanism according to claim 3, wherein The sliding lifting mechanism comprises: a lifting sliding table (306) fixed to the side plate; a lifting guide rail (305) capable of vertically sliding along the lifting sliding table; a lifting sliding base (304) fixed to the lifting guide rail; a pin bottom plate (303) assembled on the top of the lifting sliding base; and a lifting rod connector (302) hinged with the lifting connecting rod, wherein the spring pin is vertically and retractably arranged on the pin bottom plate, the left and right sides of the lifting sliding base are fixed to the lifting rod connector, and the lifting rod connector, the pin bottom plate, the lifting sliding base and the lifting guide rail are connected into an integral structure, which can drive the lifting connecting rod to move the integral structure vertically upwards along the lifting sliding table when the horizontal sliding table moves towards the center of the rail locking mechanism.

7. The rail-hugging locking mechanism according to claim 1 or 2, wherein The clamping and centering mechanism further comprises: a positioning clamping block (403) and an adapter plate (405) fixed to the bottom of the parking fixed beam (8) on the top of the charging base station; and a clamping box adapter plate (404) fixed to the side surface of the parking fixed beam, wherein the positioning groove is fixed to the two sides of the positioning clamping block, and the clamping box adapter plate is fixed to the parking fixed beam on the top of the charging base station through the adapter plate.

8. A locking docking mechanism for a rail-mounted robot, the rail-mounted robot being capable of travelling along a walking rail, along which a charging base station is arranged, wherein, The locking docking mechanism is applied to the rail locking mechanism according to any one of claims 1-7, and comprises: a positioning clamping block (403) and an adapter plate (405) fixed to the bottom of the parking fixed beam (8) on the top of the charging base station; a clamping box adapter plate (404) fixed to the side surface of the parking fixed beam, a positioning groove (402) fixed to the two sides of the positioning clamping block, wherein the clamping box adapter plate is fixed 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 fixed into an integral structure, a power supply and communication module on the base station side is assembled in the positioning clamping block and is plugged with the spring pin arranged on the top of the sliding lifting mechanism. After the sliding lifting mechanism moves upwards and the spring pin contacts the power supply and communication module on the base station side, the spring pin can be plugged with the power supply and communication module on the base station side.

9. A rail-hugging lock-type rail-hanging robot capable of traveling along a walking guide rail, characterized by, The rail hanging robot is provided with the rail locking mechanism according to any one of claims 1-7.

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