Energy complementing mechanism for rail-mounted robot and rail-mounted robot with energy complementing mechanism

Abstract

The invention provides an energy complementing mechanism for a rail-mounted robot and the rail-mounted robot with the energy complementing mechanism. The rail-mounted robot can advance along the walking guide rail in a mounting mode, a charging base station is arranged along the walking guide rail, and the energy supplementing mechanism for the rail-mounted robot comprises a sliding ascending mechanism assembled on the top of the rail-mounted robot; the pin inserting bottom plate is fixed in the center of the top of the sliding ascending mechanism; the spring contact pin is vertically arranged on the contact pin bottom plate; the charging box is fixed at the bottom of a parking fixed beam of the charging base station; the sliding lifting mechanism vertically moves upwards to drive the spring contact pin to move upwards, so that the spring contact pin can be in contact with the conductive block located above the sliding lifting mechanism to be electrically connected with the conductive block, and the rail hanging robot can be electrically connected with the charging base station.

Description

Technical Field

[0001] The present invention relates to the field of charging equipment for intelligent robots, and in particular to an energy replenishment mechanism for a rail-mounted robot and a rail-mounted robot with the energy replenishment mechanism. Background Art

[0002] In recent years, new energy vehicles have developed rapidly. By the end of 2023, China's new energy vehicle ownership has ranked first in the world. With the popularization of new energy vehicles, the construction of charging infrastructure has become one of the key links in promoting the development of green transportation in my country. However, due to the shortage of domestic parking space resources, the charging demand of new energy vehicles still mainly depends on the large-scale deployment of public charging piles. The existing fixed charging pile form and the current status of parking spaces have brought many challenges to the charging process of new energy vehicles, such as insufficient dedicated charging parking spaces, fuel vehicles occupying parking spaces, charging overtime occupying parking spaces, and queuing for charging. These problems limit the utilization rate of a single charging pile, resulting in a decrease in the turnover rate, which in turn affects operational efficiency and revenue.

[0003] At present, some rail-mounted charging robots are trying to improve the charging process by optimizing the layout and operation mode of charging piles. At present, the existing rail-mounted mobile robot system is usually composed of a track, a mobile robot, a charging host and a charging base station. In order to achieve the purpose of flexibly charging new energy vehicles, the mobile robot needs to carry the charging host to the charging base stations in each parking space for docking, and then charge the new energy vehicles. Therefore, the mobile unit of the rail-mounted charging robot must have sufficient power to complete the moving and handling tasks. Since most mobile robots use lithium batteries as power sources, these robots need to be charged by connecting direct current. However, current rail-mounted robots often need to move to a designated position on the track for charging and replenishing energy. The Chinese utility model patent with announcement number CN208174328U describes a device for contact charging of a rail-mounted robot at a designated track position. However, the charging method at the designated location has the problem of inefficiency. In addition, during the charging process, the mobile robot cannot respond to new new energy vehicle charging orders, causing car owners to queue up and wait, further affecting the overall operational efficiency.

[0004] In summary, in the technical field of rail-mounted charging robots, the existing rail-mounted robot energy replenishment mechanism design is still immature and cannot meet the needs of safe and efficient charging of new energy vehicles. In order to solve the above problems, the present invention proposes a new type of rail-mounted robot energy replenishment mechanism, which aims to improve the energy replenishment efficiency of the rail-mounted robot, thereby further improving the operating efficiency and user experience of the rail-mounted charging robot in the charging scenario of new energy vehicles. Summary of the invention

[0005] In order to overcome the above-mentioned problems of the existing rail-mounted charging robot energy replenishment mechanism, the present invention aims to provide a rail-mounted robot energy replenishment mechanism with a simple structure, high reliability, easy maintenance and long service life. The present invention arranges a power supply module on the parking fixed beam of each charging base station, and arranges a power supply module on the top of the mobile robot's body rail-holding locking mechanism, so that the mobile robot can automatically charge and replenish energy when its rail-holding locking mechanism tightly holds the parking fixed beam of any charging base station. This design avoids the disadvantage that the mobile robot must go to a designated location on the track for charging due to insufficient power, and greatly improves the operating efficiency of the rail-mounted charging robot.

[0006] In addition, the energy replenishment mechanism proposed in the present invention allows the system to formulate an intelligent energy replenishment strategy based on the power information of the mobile robot. When the power of the rail-mounted robot is lower than or reaches the preset range, the robot can automatically charge when parked at any charging base station to ensure that it always maintains sufficient power, thereby achieving the ability to respond to user needs around the clock and significantly improving the user experience. At the same time, the energy replenishment mechanism allows the mobile robot to charge at any charging base station, reducing the requirements for battery capacity and volume, helping to achieve the lightweight of the mobile robot and reduce additional risks caused by the battery, such as thermal runaway and other problems. The energy replenishment mechanism of the invention is simple in structure, easy to implement, highly reliable, and has good scalability and practicality.

[0007] The first aspect of the present invention provides a charging mechanism for a rail-mounted robot, which can move along a walking rail in a mounted manner, and a charging base station is arranged along the walking rail, wherein the charging mechanism includes: a sliding and rising mechanism installed on the top of the rail-mounted robot; a pin base plate fixed at the top center of the sliding and rising mechanism; a spring pin vertically installed on the pin base plate; a charging box fixed to the bottom of the parking fixed beam of the charging base station; and a conductive block fixed to the bottom of the charging box, wherein the vertical upward movement of the sliding and rising mechanism can drive the spring pin to move upward, so that the spring pin can contact the conductive block above the sliding and rising mechanism and form an electrical connection with the conductive block, so that the rail-mounted robot and the charging base station can be electrically connected.

[0008] Preferably, in the energy charging mechanism according to the present invention, the spring pin includes a power supply pin and a signal pin, the power supply pin is a DC pin, and when the power supply pin is connected to the relative conductive block, the battery of the mobile robot can be charged and charged, and when the signal pin is connected to the relative conductive block, signal interaction can be performed between the mobile robot and the charging base station.

[0009] Preferably, the energy charging mechanism according to the present invention also includes a positioning clamping mechanism, which includes: a positioning clamping block fixed to the bottom of the parking fixed beam, which is in the shape of a rectangular frame; and positioning grooves fixedly connected to both sides of the positioning clamping block, wherein the bottom frame of the positioning clamping block is opened in the center, the charging box is fixedly connected to the bottom frame opening of the positioning clamping block, and the conductive block arranged on the bottom surface of the charging box is exposed from the bottom frame opening of the positioning clamping block.

[0010] Preferably, in the energy replenishing mechanism according to the present invention, a connecting rod mechanism with a left-right symmetrical structure is fixedly connected on both sides of the sliding and ascending mechanism, and a positioning block is fixedly connected to the left and right top ends of the connecting rod mechanism, wherein the positioning block and the positioning groove have matching shapes at relative positions to each other, and while the top end of the connecting rod mechanism is driven by the connecting rod mechanism to move toward the central axis direction of the sliding and ascending mechanism, the sliding and ascending mechanism is driven by the connecting rod mechanism to move vertically upward, and along with the upward movement of the sliding and ascending mechanism, the positioning block fixed at the top end of the connecting rod mechanism is linked in the vertical and horizontal directions to approach the positioning groove, so that the positioning block and the positioning groove can engage with each other to form a lock. Since the connecting rod mechanism fixed to the sliding and ascending mechanism has a left-right symmetrical structure, if the rail-hanging robot has a positioning deviation when its sliding and ascending mechanism drives the spring pin to dock with the conductive block on the charging base station, the symmetry of the connecting rod mechanism can be used to automatically correct the position deviation.

[0011] Preferably, in the energy replenishing mechanism according to the present invention, the portion of the positioning block opposite to the positioning groove is a protruding V-shaped structure, and the portion of the positioning groove opposite to the positioning block is a recessed V-shaped structure, and the positioning block and the positioning groove are complementary in shape so that they can cooperate with each other through friction when they are in a state of mutual engagement to form a fixed connection structure.

[0012] Preferably, in the energy replenishment mechanism according to the present invention, the sliding and rising mechanism includes: a rising slide fixedly connected to the top of the rail-hanging robot; a rising guide rail capable of vertically sliding along the rising slide; a rising sliding base fixedly connected to the rising guide rail; and a rising rod connecting piece fixedly connected to the rising sliding base on both sides of the rising sliding base, wherein the pin base plate is assembled on the top of the rising sliding base, 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, and the rising rod connecting piece is fixedly connected to the connecting rod mechanism, and when the rising connecting rod is driven by the connecting rod mechanism to drive the above-mentioned integral structure to move vertically upward along the rising slide, the spring pin installed on the pin base plate is driven to move vertically upward so as to be able to contact the conductive block above.

[0013] Preferably, in the energy charging mechanism according to the present invention, the number of the conductive blocks is 4, and they are fixedly connected to the bottom surface of the charging box in a centrally symmetrical manner along the central axis of the charging box.

[0014] Preferably, in the energy replenishment mechanism according to the present invention, the spring pin is fixed on the pin base plate in a vertical and telescopic manner.

[0015] Preferably, in the energy replenishing mechanism according to the present invention, the conductive blocks are made of copper and their number is the same as the number of spring pins, and when the sliding lifting mechanism moves vertically upward, the spring pins and the conductive blocks are aligned one by one with each other in the vertical direction.

[0016] A second aspect of the present invention provides a rail-mounted robot capable of traveling along a traveling guide rail, wherein a body of the rail-mounted robot is equipped with an energy replenishment mechanism according to the first aspect of the present invention.

[0017] In summary, the beneficial effects of the present invention are at least in the following aspects:

[0018] 1. The energy replenishment mechanism for the rail-hanging robot of the present invention has a simple structure, is easy to maintain and has a long service life.

[0019] 2. The energy replenishment mechanism for the rail-mounted robot of the present invention enables the robot to autonomously charge and replenish energy according to the energy replenishment strategy when it is parked at any charging base station, so that it always maintains sufficient power, thereby improving operating efficiency. In addition, the design can quickly respond to user needs around the clock and significantly improve user experience.

[0020] 3. In the energy replenishment mechanism for the rail-mounted robot of the present invention, when the sliding and ascending mechanism drives the spring pin to dock with the conductive block on the assembly charging base station, if the positioning of the rail-mounted robot is deviated, the rail-mounted robot can automatically correct the position deviation by using the symmetry of the connecting rod mechanism. This improves the success rate of docking, reduces the failure rate of the energy replenishment mechanism, and prolongs the service life of the energy replenishment mechanism.

[0021] 4. In the energy replenishment mechanism for the rail-mounted robot of the present invention, the sliding and ascending mechanism drives the spring pin to dock with the conductive block, which can be performed in a locked state formed by the positioning and clamping mechanism. This locked state can further improve the success rate of docking between the spring pin and the conductive block and ensure the stability of electrical connection. This further improves the success rate of docking and prolongs the service life of the energy replenishment mechanism.

[0022] 5. The energy replenishment mechanism for the rail-mounted robot of the present invention allows the mobile robot to be charged and recharged at any charging base station. This feature reduces the requirements for the robot's battery capacity and volume, helps to achieve lightweight robots, and reduces battery-related risks, such as thermal runaway and other issues. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] 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.

[0024] Figure 1 It is a schematic diagram showing the overall front structure of the energy replenishment mechanism for the rail-hanging robot according to the present invention.

[0025] Figure 2 It is a schematic diagram showing a partial structure of an energy replenishment mechanism for a rail-mounted robot according to the present invention being assembled on a charging base station.

[0026] Figure 3 and Figure 4 It is a structural schematic diagram showing that the energy replenishment mechanism for the rail-hanging robot according to the present invention is in a docking state with a charging base station.

[0027] Description of Reference Numerals

[0028] 1: Spring pin; 2: Pin base; 3: Sliding lifting mechanism; 301: Lifting rod connector; 302: Lifting sliding base; 303: Lifting guide rail; 304: Lifting slide; 4: Positioning clamping mechanism; 401: Positioning block; 402: Positioning slot; 403: Positioning clamping block; 5: Conductive block; 6: Charging box; 7: Connecting rod mechanism; 8: Parking fixed beam. DETAILED DESCRIPTION

[0029] 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.

[0030] The following reference Figures 1 to 4 The structure of the rail-hanging robot and the energy replenishment mechanism for the rail-hanging robot of the present invention is described. The rail-hanging robot of the present invention can travel along the walking rail in a hanging manner, and a plurality of charging base stations are arranged along the walking rail. The rail-hanging robot includes a body and an energy replenishment mechanism assembled on the body.

[0031] [Structure of the energy replenishment mechanism according to the first embodiment of the present invention]

[0032] like Figures 1 to 4As shown, the energy charging mechanism according to the first embodiment of the present invention includes: a sliding lifting mechanism 3, which is assembled on the top of the rail-hanging robot; a pin base plate 2 fixed at the top center of the sliding lifting mechanism 3; a spring pin 1 vertically installed on the pin base plate 2; a charging box 6 fixed to the bottom of the parking fixed beam 8 of the charging base station; and a conductive block 5 fixed to the bottom surface 6 of the charging box.

[0033] Among them, the sliding lifting mechanism 3 moves vertically upward and drives the spring pin 1 to move upward, so that the spring pin 1 can contact the conductive block 5 above the sliding lifting mechanism 3 and form an electrical connection with the conductive block 5, so that the rail-hanging robot can be electrically connected to the charging base station.

[0034] The structures of the various parts included in the energy replenishment mechanism of the present invention are described in detail below.

[0035] [Structure of spring pin 1 and conductive block 5]

[0036] The spring pin 1 may include at least one of a power supply pin and a signal pin. When the power supply pin is connected to the relative conductive block, the battery of the mobile robot can be charged and replenished, and when the signal pin is connected to the relative conductive block, signal interaction can be performed between the mobile robot and the charging base station.

[0037] like Figure 1 As shown, as a preferred example, the spring pin 1 has a cylindrical structure with a thick top and a thin bottom (including a slightly thick cap portion at the top and a slightly thin diameter portion at the bottom), and the slightly thick cap portion can achieve a larger contact surface and improve the stability of the electrical connection. Obviously, the present invention is not limited to this, and the spring pin 1 can also adopt other shapes, such as a cylindrical shape with the same diameter, a quadrangular prism with the same diameter, a quadrangular prism with a thick top and a thin bottom, or a hexagonal shape.

[0038] In addition, as a preferred mode, the spring pin 1 is fixed to the pin base plate in a telescopic manner. The retractability of the spring pin 1 is achieved by a spring mounted on the top, inside or bottom of the diameter. When the spring pin 1 contacts the conductive block 5 in a compressed state, the spring can give an upward pressure to the cap of the spring pin 1, thereby enhancing the stability of the electrical connection between the spring pin 1 and the conductive block 5. Moreover, the retractability of the spring pin 1 can also improve the adaptability of the rail-hanging mechanism to the environment when docking with the base station.

[0039] As a preferred method, in this embodiment, the number of spring pins 1 is 4. Obviously, the present invention is not limited thereto. According to the configuration of the power supply circuit or signal circuit of the rail-hanging robot, other numbers more than 4, such as 6, 8, etc., may also be used. As a preferred example, Figure 1As shown, the spring pins 1 are arranged in a 2×2 array. Correspondingly, the conductive blocks 5 on the bottom of the charging box 6 also adopt the same number and arrangement, and are fixed to the bottom of the charging box in a centrally symmetrical manner along the central axis of the charging box. Therefore, when the rail-mounted robot runs to the charging base station and the sliding lifting mechanism 3 is directly below the parking fixed beam 8 of the charging base station, the spring pins 1 can be aligned with the conductive blocks 5 in a one-to-one manner.

[0040] Obviously, the arrangement of the spring pins 1 is not limited to Figure 1 The arrangement shown in the figure can also be arranged in other ways according to the number of spring pins 1 or the configuration of the power supply circuit or information line of the rail hanging mechanism. Accordingly, the conductive block 5 adopts the same arrangement as the spring pins 1. Thus, when the sliding lifting mechanism moves vertically upward, the spring pins can be aligned with the conductive blocks one by one in the vertical direction, so as to smoothly and accurately perform electrical connection.

[0041] As a preferred manner, in the embodiment of the present invention, the conductive block 5 is made of copper, and obviously it can also be made of other conductive materials.

[0042] [Structure of the pin base plate 2]

[0043] The pin bottom plate is located at the top of the sliding lifting mechanism, which can ensure that the position of the spring pin 1 is symmetrically arranged along the central axis of the mechanism. Figure 2 As shown, the pin base plate 2 is provided with a hole opening upward, and the bottom of the spring pin 1 is fixed on the pin base plate by inserting the hole, so as to be fixed to the top of the sliding lifting mechanism through the pin base plate 2. As an alternative, the pin base plate 2 can be provided with a through hole in a penetrating manner, and the bottom of the spring pin 1 is inserted through the through hole in a penetrating manner and fixed to the sliding lifting mechanism 3 below the pin base plate 2.

[0044] Since the lower part of the diameter of the spring pin 1 is accommodated in the hole / through hole of the pin base plate 2, the pin base plate 2 can play a certain role in limiting and protecting the diameter of the spring pin 1 when the spring pin 1 moves upward with the sliding lifting mechanism 3 to contact the conductive block 5, thereby increasing the reliability and service life of the equipment.

[0045] [Structure of Charging Box 6]

[0046] like Figure 2 and Figure 4 As shown, the charging box 6 is mounted at the bottom of the parking fixed beam 8 of the charging base station, and a conductive block 5 is mounted on the bottom surface of the charging box 6. In addition, a power supply circuit and a signal line that can be connected to the charging base station are installed in the charging box 6. As a preferred example, the shell of the charging box 6 can be made of plastic, but the present invention is obviously not limited thereto, and other insulating materials can also be used.

[0047] [Structure of the sliding lifting mechanism 3]

[0048] like Figure 1 As shown, the sliding lifting mechanism 3 includes: a lifting slide 304, which is fixedly connected to the top of the rail-hanging robot (not shown); a lifting guide rail 303, which can slide vertically along the lifting slide; a lifting sliding base 302, which is fixedly connected to the lifting guide rail 303; and a lifting rod connecting piece 301, which is fixedly connected to the lifting sliding base 302 on both sides of the lifting sliding base 302.

[0049] The pin base plate 1 is assembled on the top of the ascending sliding base 3, and the ascending rod connector 301, the pin base plate 2, the ascending sliding base 302 and the ascending guide rail 303 are connected to form an integral structure. As a preferred method, in this embodiment, the above components can be connected to form a whole by bolts, but the present invention is obviously not limited thereto, and the fixing method can also be a combination of one or more methods such as snap-fit, bonding, etc.

[0050] like Figure 1 and Figure 3 As shown, the link mechanism 7 mounted on the rail-hanging robot (not shown) is fixedly connected to the rising rod connector 301 on both sides of the sliding rising mechanism 3, and the link mechanism 7 has a left-right symmetrical structure based on the axis of the sliding rising mechanism 3. When the rising link 301 is driven by the link mechanism 7 to drive the above-mentioned overall structure to move vertically upward along the rising slide 304, the spring pin 1 mounted on the pin bottom plate 2 is driven to move vertically upward so as to be able to contact the conductive block above.

[0051] To sum up, the energy charging mechanism for the rail-mounted robot of the present invention uses the spring pin as the main component of the power extraction module, and the conductive block and the charging box as the main components of the power supply module, and utilizes the rising action of the sliding rising mechanism to drive the spring pin and the conductive block to dock, resulting in the energy charging mechanism having a simple structure, easy maintenance and a long service life.

[0052] In addition, the energy replenishment mechanism for the rail-mounted robot of the present invention enables the robot to autonomously charge and replenish energy according to the energy replenishment strategy when it is parked at any charging base station, so that it always maintains sufficient power, thereby improving operating efficiency. Moreover, this design can quickly respond to user needs around the clock and significantly improve user experience.

[0053] Moreover, the energy replenishment mechanism for the rail-mounted robot of the present invention allows the mobile robot to be charged and recharged at any charging base station. This feature reduces the requirements for the robot's battery capacity and volume, helps to make the robot lightweight, and reduces battery-related risks, such as thermal runaway and other problems.

[0054] [Structure of the energy replenishment mechanism according to the second embodiment of the present invention]

[0055] The structure of the energy replenishment mechanism for the rail-hanging robot according to the first embodiment of the present invention is described above. Compared with the first embodiment, in order to further improve the reliability and service life of the energy replenishment mechanism, the energy replenishment mechanism according to the second embodiment of the present invention further includes a positioning clamping mechanism 4. When the rail-hanging robot is replenishing energy at the charging base station, the positioning clamping mechanism 4 can make the rail-hanging robot and the charging base station form a locked state, and the locked state further improves the success rate of the spring pin 1 and the conductive block 5 to dock to form an electrical connection and the stability of the continuous electrical connection.

[0056] For the sake of simplicity, regarding the structure of the energy replenishing mechanism of the second embodiment, the same structural parts as those of the first embodiment will not be described in detail, and only the positioning clamping mechanism 4 which is the difference from the first embodiment will be described in detail.

[0057] [Structure of the Positioning Clamping Mechanism 4]

[0058] like Figure 1 and Figure 3 As shown, the positioning clamping mechanism 4 includes: a positioning clamping block 403 , which is fixed to the bottom of the parking fixed beam and is in the shape of a rectangular frame; and a positioning groove 402 , which is fixedly connected to both sides of the positioning clamping block 403 .

[0059] In addition, the positioning clamping mechanism 4 further comprises a positioning block 401, which is fixedly connected to the left and right top ends of the connecting rod mechanism 7. Thus, the positioning block 401 is connected to the sliding and ascending mechanism 3 via the connecting rod mechanism 7.

[0060] The positioning block 401 and the positioning groove 402 have matching shapes at relative positions to each other, and while the top end of the connecting rod mechanism 7 is driven by the connecting rod mechanism 7 to move toward the central axis direction of the sliding lifting mechanism 3, the sliding lifting mechanism 3 is driven by the connecting rod mechanism 7 to move vertically upward. Along with the upward movement of the sliding lifting mechanism 3, the positioning block 401 fixed to the top end of the connecting rod mechanism 7 is linked in the vertical and horizontal directions to approach the positioning groove 402, so that the positioning block 401 and the positioning groove 402 can engage with each other (the positioning block 401 tightly embraces the positioning groove 402) to form a lock.

[0061] As a preferred embodiment, the portion of the positioning block 401 opposite to the positioning groove 402 is a protruding V-shaped structure, while the portion of the positioning groove 402 opposite to the positioning block 401 is a recessed V-shaped structure. The positioning block 401 and the positioning groove 402 are complementary in shape so that they can cooperate with each other through friction to form a fixed connection structure in a tightly embraced (engaged with each other) state.

[0062] Thus, while the positioning block 401 and the positioning groove 402 are driven by the connecting rod mechanism 7, the spring pin 1 is driven by the sliding lifting mechanism 3 to move upward close to the conductive block 5, and when the positioning block 401 and the positioning groove 402 are locked (that is, the state in which the rail hanging mechanism and the charging base station are locked to each other), the spring pin 1 is electrically connected to the conductive block 5, thereby ensuring the stability of the electrical connection between the spring pin 1 and the conductive block 5.

[0063] [Structure of Charging Box 6]

[0064] like Figure 2 and Figure 3 As shown, an opening is provided at the center of the bottom frame of the positioning clamping block 403, and the charging box 6 is fixedly connected to the bottom frame opening of the positioning clamping block 403, and the conductive block 5 arranged on the bottom surface of the charging box 6 is exposed from the bottom frame opening of the positioning clamping block 403, so as to contact the spring pin 1 below. As a preferred method, the charging box 6 is fixedly connected to the positioning clamping block 403 by a fixed connection method of bolts and nuts, but it is obvious that the present invention is not limited to this, and other fixing methods, such as buckles, etc., can also be used.

[0065] In summary, in the energy charging mechanism according to the second embodiment of the present invention, by using the positioning clamping mechanism to perform a clamping operation, the sliding and ascending mechanism drives the spring pin to dock with the conductive block at the bottom of the parking fixed beam, which can be performed in a locked state between the rail-hanging robot and the charging base station. This locked state can further improve the success rate of docking and ensure the stability of continuous electrical connection. This reduces the failure rate of the energy charging mechanism and extends the service life of the energy charging mechanism.

[0066] 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 charging mechanism for a rail-mounted robot, wherein the rail-mounted robot can travel along a travel rail in a hanging manner, and a charging base station is arranged along the travel rail, wherein: The energy replenishment mechanism comprises: A sliding lifting mechanism (3) mounted on the top of the rail-hanging robot; A pin base plate (2) fixed at the top center of the sliding lifting mechanism; A spring pin (1) vertically mounted on the pin base plate; A charging box (6) fixed to the bottom of a parking fixed beam (8) of a charging base station; and A conductive block (5) fixed to the bottom surface of the charging box, Among them, the vertical upward movement of the sliding lifting mechanism can drive the spring pin to move upward, so that the spring pin can contact the conductive block above the sliding lifting mechanism and form an electrical connection with the conductive block, so that the rail-hanging robot can be electrically connected to the charging base station.

2. The energy replenishment mechanism according to claim 1, characterized in that: The spring pins include power supply pins and signal pins. Among them, the power supply pin is a DC pin. When the power supply pin is connected to the relative conductive block, the battery of the mobile robot can be charged and replenished, and when the signal pin is connected to the relative conductive block, signal interaction can be carried out between the mobile robot and the charging base station.

3. The energy replenishment mechanism according to claim 1 or 2, characterized in that: The energy replenishment mechanism further comprises a positioning clamping mechanism (4), which comprises: A positioning clamping block (403) fixed to the bottom of the parking fixed beam, which is in the shape of a rectangular frame; and The positioning grooves (402) are fixedly connected to the two sides of the positioning clamping block. Among them, the bottom frame of the positioning clamping block has an opening in the center, the charging box is fixedly connected to the bottom frame opening of the positioning clamping block, and the conductive block arranged on the bottom surface of the charging box is exposed from the bottom frame opening of the positioning clamping block.

4. The energy replenishment mechanism according to claim 3, characterized in that: A connecting rod mechanism (7) having a left-right symmetrical structure is fixedly connected to both sides of the sliding lifting mechanism, and a positioning block (401) is fixedly connected to the left and right top ends of the connecting rod mechanism. Among them, the positioning block and the positioning groove have matching shapes at relative positions to each other, and while the top end of the connecting rod mechanism is driven by the connecting rod mechanism to move toward the central axis direction of the sliding lifting mechanism, the sliding lifting mechanism is driven by the connecting rod mechanism to move vertically upward. Along with the upward movement of the sliding lifting mechanism, the positioning block fixed to the top end of the connecting rod mechanism is linked in the vertical and horizontal directions to approach the positioning groove, so that the positioning block and the positioning groove can engage with each other to form a lock.

5. The energy replenishment mechanism according to claim 3, characterized in that: The portion of the positioning block opposite to the positioning groove is a protruding V-shaped structure, while the portion of the positioning groove opposite to the positioning block is a recessed V-shaped structure. The positioning block and the positioning groove are complementary in shape so that they can cooperate with each other through friction to form a fixed connection structure when they are engaged with each other.

6. The energy replenishment mechanism according to claim 3, characterized in that: The sliding rising mechanism includes: A rising slide (304) fixedly connected to the top of the rail-hanging robot; An ascending guide rail (303) capable of vertically sliding along the ascending slide; An ascending sliding base (302) fixedly connected to the ascending guide rail; and The rising rod connecting pieces (301) are fixedly connected to the rising sliding base on both sides of the rising sliding base. Among them, the pin base plate is assembled on the top of the rising sliding base, 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. The rising rod connecting piece is fixedly connected to the connecting rod mechanism. When the rising connecting rod is driven by the connecting rod mechanism to drive the above-mentioned integral structure to move vertically upward along the rising slide, the spring pin installed on the pin base plate is driven to move vertically upward so as to be able to contact the conductive block above.

7. The energy replenishment mechanism according to claim 3, characterized in that: There are four conductive blocks, which are fixed to the bottom surface of the charging box in a centrally symmetrical manner along the central axis of the charging box.

8. The energy replenishment mechanism according to claim 3, characterized in that: The spring pins are fixed on the pin base plate in a vertical and telescopic manner.

9. The energy replenishment mechanism according to claim 3, characterized in that: The conductive blocks are made of copper and their number is the same as the number of the spring pins, and when the sliding lifting mechanism moves vertically upward, the spring pins and the conductive blocks are aligned one by one with each other in the vertical direction.

10. A rail-mounted robot capable of traveling along a walking rail, wherein: The main body of the rail-hanging robot is equipped with an energy replenishment mechanism as described in any one of claims 1 to 9.

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