Ground rail device

Abstract

The invention provides a ground rail device which comprises a rail, a plurality of ground rail units connected in sequence are included, each ground rail unit comprises a body, a guiding piece and an inserting piece, the body is provided with a first end and a second end which are oppositely arranged in the extending direction, and the second end of the body is provided with a guiding hole and an inserting hole; the guide hole and the insertion hole are formed in the extending direction of the body, the guide piece is movably arranged at the first end of the body, the insertion piece is movably arranged at the first end of the body, the guide piece and the insertion piece move in the extending direction of the body, and the guide piece is matched with the guide hole of the adjacent ground rail unit in an inserted mode. The plug connectors are in plug-in fit with the plug holes of the adjacent ground rail units so as to connect the two adjacent ground rail units; and the driving assembly is movably arranged on the rail, and the driving assembly is used for bearing and conveying articles. By means of the technical scheme, the problem that in the prior art, a ground rail is inconvenient to maintain, disassemble and assemble can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of ground rails, and in particular to a ground rail device. Background Art

[0002] The handling robot is an automated product that uses the robot's motion trajectory to replace manual handling. The handling robot ground rail is a structure that provides a running track for the handling robot. It has a track groove inside for the handling robot to walk on, and splicing grooves at both ends for the ground rail to splice.

[0003] When the transport robot is working, it needs to be driven by a ground rail. When the ground rail is installed on the site, its connection method is mostly fastened with bolts and other materials, which is inconvenient when maintenance and disassembly are required later. Summary of the invention

[0004] The invention provides a ground rail device to solve the problem of inconvenient ground rail maintenance in the prior art.

[0005] The present invention provides a ground rail device, which comprises: a rail, the rail comprises a plurality of ground rail units connected in sequence, each ground rail unit comprises a body, a guide member and a plug-in member, the body has a first end and a second end arranged opposite to each other along an extension direction, the second end of the body has a guide hole and a plug-in hole, both the guide hole and the plug-in hole are arranged along the extension direction of the body, the guide member is movably arranged at the first end of the body, the plug-in member is movably arranged at the first end of the body, both the guide member and the plug-in member move along the extension direction of the body, the guide member is used for plugging and matching with the guide hole of an adjacent ground rail unit, the plug-in member is used for plugging and matching with the plug-in hole of an adjacent ground rail unit, so as to connect two adjacent ground rail units; a driving component is movably arranged on the rail, and the driving component is used for carrying and transporting articles.

[0006] Furthermore, the ground rail unit also includes: a plug-in drive component, which is arranged on the main body, the plug-in drive component is drivingly connected to the plug-in component, and the plug-in drive component drives the plug-in component to move in the extension direction of the main body.

[0007] Furthermore, the plug-in drive component includes: a motor; a screw rod extending along the extension direction of the main body, the screw rod being rotatably arranged on the main body, the motor being drivingly connected to the screw rod; a drive block being threadedly connected to the screw rod, the drive block being connected to one end of the connector close to the second end, and the motor cooperating with the drive block through the screw rod to drive the connector to move.

[0008] Further, the plug-in hole extends from the second end of the body to the first end of the body, the plug-in component is movably arranged in the plug-in hole, and the plug-in component has a first connection state in which the first end face of the plug-in hole is protruded and a first avoidance state in which the plug-in component is retracted into the plug-in hole. When the plug-in component is in the first connection state, the plug-in component is plugged into and matched with one end of the plug-in hole of the adjacent ground rail unit located at the second end; and / or, the guide hole extends from the second end of the body to the first end of the body, the guide component is movably arranged in the guide hole, and the guide component has a second connection state in which the first end face of the guide hole is protruded and a second avoidance state in which the guide component is retracted into the guide hole. When the guide component is in the second connection state, the guide component is plugged into and matched with one end of the guide hole of the adjacent ground rail unit located at the second end.

[0009] Furthermore, the ground rail unit also includes: a locking structure, which is arranged between the guide member and the body, and the locking structure is used to fix the position of the guide member relative to the body.

[0010] Furthermore, the top surface of the main body has a transport groove extending from the first end to the second end, and the driving assembly includes: a support seat located above the transport groove; a driving wheel arranged at the bottom of the support seat, at least part of the driving wheel is located in the transport groove; a transport driving member arranged on the support seat, and the transport driving member is connected to the driving wheel to drive the support seat to move on the track.

[0011] Furthermore, the driving assembly includes a plurality of driving wheels, which are arranged on the support seat at intervals along the extension direction of the main body. The driving assembly also includes: a plurality of gears, the transport driving member is drivingly connected to one of the gears, which are arranged on the support seat at intervals along the extension direction of the main body, the gears and the driving wheels are arranged one by one, and the gears rotate synchronously with the corresponding driving wheels; a conveyor belt, which is mounted on the plurality of gears, and the transport driving member cooperates with the plurality of gears through the conveyor belt to drive the plurality of driving wheels to rotate synchronously.

[0012] Furthermore, the top surface of the main body also has a guide groove, which is arranged side by side with the transport groove along the width direction of the main body, and the guide groove extends from the first end to the second end. The drive assembly also includes: an auxiliary seat, which is detachably connected to the side of the support seat, and the auxiliary seat is located above the guide groove; an auxiliary wheel, which is arranged at the bottom of the auxiliary seat, and at least part of the auxiliary wheel is located in the guide groove.

[0013] Furthermore, a connecting protrusion is provided on one side of the auxiliary seat close to the supporting seat, and a connecting groove is provided on one side of the supporting seat close to the auxiliary seat, the connecting protrusion is cooperatively connected with the connecting groove, a first connecting hole is provided on the top surface of the supporting seat, the first connecting hole is connected with the connecting groove, a second connecting hole is provided on the connecting protrusion, and the first connecting hole is coaxial with the second connecting hole. The ground rail unit also includes: a clamping piece, which is detachably connected to the top of the supporting seat; a connecting column, which is used to be inserted into the first connecting hole and the second connecting hole, and one end of the connecting column abuts against the clamping piece; a clamping protrusion is provided on the side wall of the connecting column, and the clamping protrusion is located above the connecting protrusion; a first elastic piece is sleeved on the connecting column, one end of the first elastic piece abuts against the clamping piece, and the other end of the first elastic piece abuts against the clamping protrusion, and the first elastic piece is used to provide a driving force for the clamping protrusion to move toward the connecting protrusion.

[0014] Furthermore, an abutment groove is provided on the side wall of the auxiliary seat, the abutment groove extends along the extension direction of the main body, and the abutment groove is located in the guide groove. The ground rail unit also includes: a mounting frame, which is arranged on the side wall of the guide groove, the mounting frame is arranged along the extension direction of the main body, and the mounting frame can move relative to the guide groove in the width direction of the main body; a plurality of rollers are rotatably arranged on the mounting frame, and the rollers are used to cooperate with the abutment groove to abut; a second elastic member is arranged between the mounting frame and the main body, and the second elastic member is used to provide a driving force for the mounting frame to move toward the auxiliary seat.

[0015] Applying the technical solution of the present invention, the ground rail device includes a rail and a driving assembly. The rail is composed of a plurality of ground rail units connected in sequence, and each ground rail unit includes a body, a guide member and a plug-in member. The body has a first end and a second end that are relatively arranged along its extension direction, and the second end of the body has a guide hole and a plug-in hole, and the guide hole and the plug-in hole are both arranged along the extension direction of the body. The guide member and the plug-in member can be movably arranged at the first end of the body, and they both move along the extension direction of the body. The guide member is used to be plugged in and matched with the guide hole of the adjacent ground rail unit, and the plug-in member is used to be plugged in and matched with the plug-in hole of the adjacent ground rail unit, so as to achieve a stable connection between two adjacent ground rail units and ensure the integrity and stability of the rail. The driving assembly is movably arranged on the rail for carrying and transporting items. During operation, the guide piece is plugged into the guide hole of the adjacent ground rail unit, and the plug-in piece is plugged into the plug-in hole of the adjacent ground rail unit, so that the adjacent ground rail units are connected to each other to form a complete track, so that the driving assembly can move on the track. The above structure can realize flexible assembly of the ground rail, improve the working efficiency and application scope of the handling robot, and facilitate later maintenance and upgrading. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0017] Figure 1 A schematic structural diagram of a ground rail device provided by the present invention is shown;

[0018] Figure 2 A schematic diagram of the structure of the plug-in drive member provided by the present invention is shown;

[0019] Figure 3 A schematic structural diagram of a guide member provided by the present invention is shown;

[0020] Figure 4 An exploded view of the internal structure of the support base provided by the present invention is shown;

[0021] Figure 5 The structure diagram of the auxiliary seat provided by the present invention is shown;

[0022] Figure 6 Shows Figure 1 A partial enlarged view of point A.

[0023] The above drawings include the following reference numerals:

[0024] 10. Ground rail unit;

[0025] 101. body; 1011. transport trough; 1012. guide trough;

[0026] 102. guide member; 1021. guide hole;

[0027] 103, connector; 1031, socket;

[0028] 11. Plug in the drive components;

[0029] 111, motor; 112, lead screw; 113, drive block;

[0030] 12. Locking structure;

[0031] 13. Clamping parts;

[0032] 14. Connecting column;

[0033] 15. Press the bulge tightly;

[0034] 16. a first elastic member;

[0035] 17. Mounting frame;

[0036] 18. Roller;

[0037] 19. A second elastic member;

[0038] 20. Drive components;

[0039] 201, support seat; 2011, connection groove; 2012, first connection hole;

[0040] 202, driving wheel;

[0041] 203, transport drive parts;

[0042] 204, gear;

[0043] 205, conveyor belt; 2051, reducer;

[0044] 206, auxiliary seat; 2061, connecting protrusion; 2062, second connecting hole; 2063, abutting groove;

[0045] 207. Training wheels;

[0046] 01, track; 02, first end; 03, second end. DETAILED DESCRIPTION

[0047] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0048] like Figures 1 to 6 As shown, the present invention provides a ground rail device, which includes a track 01 and a driving assembly 20. The track 01 includes a plurality of ground rail units 10 connected in sequence, each ground rail unit 10 includes a body 101, a guide member 102 and a connector 103, the body 101 has a first end 02 and a second end 03 which are arranged opposite to each other along the extension direction, the second end 03 of the body 101 has a guide hole 1021 and a connector 1031, the guide hole 1021 and the connector 1031 are both arranged along the extension direction of the body 101, the guide member 102 is movably arranged at the first end 02 of the body 101, the connector 103 is movably arranged at the first end 02 of the body 101, the guide member 102 and the connector 103 are both movable along the extension direction of the body 101, the guide member 102 is used for plugging and matching with the guide hole 1021 of an adjacent ground rail unit 10, the connector 103 is used for plugging and matching with the connector hole 1031 of an adjacent ground rail unit 10, so as to connect two adjacent ground rail units 10. The driving assembly 20 is movably disposed on the track 01 , and the driving assembly 20 is used to carry and transport items.

[0049] Applying the technical solution of the present invention, the ground rail device includes a track 01 and a driving assembly 20. The track 01 is composed of a plurality of ground rail units 10 connected in sequence, and each ground rail unit 10 includes a body 101, a guide member 102 and a plug-in member 103. The body 101 has a first end 02 and a second end 03 that are arranged opposite to each other along its extension direction, and the second end 03 of the body 101 has a guide hole 1021 and a plug-in hole 1031, and the guide hole 1021 and the plug-in hole 1031 are both arranged along the extension direction of the body 101. The guide member 102 and the plug-in member 103 are both movably arranged at the first end 02 of the body 101, and they are both movable along the extension direction of the body 101. The guide member 102 is used to be plugged and matched with the guide hole 1021 of the adjacent ground rail unit 10, and the plug-in member 103 is used to be plugged and matched with the plug-in hole 1031 of the adjacent ground rail unit 10. The above structure is used to realize the stable connection of two adjacent ground rail units 10, and ensure the integrity and stability of the track 01. The driving assembly 20 is movably arranged on the track 01 for carrying and transporting articles. During operation, the guide member 102 is plugged into the guide hole 1021 of the adjacent ground track unit 10, and the plug-in member 103 is plugged into the plug-in hole 1031 of the adjacent ground track unit 10, so that the adjacent ground track units 10 are connected to each other to form a complete track 01, so that the driving assembly 20 can be moved on the track 01, and the flexible assembly of the ground track can be realized, thereby improving the working efficiency and application scope of the handling robot, and facilitating the subsequent maintenance and upgrading.

[0050] Furthermore, the ground rail unit 10 also includes a plug-in drive member 11, which is arranged on the body 101, and the plug-in drive member 11 is drivingly connected to the plug-in member 103, and the plug-in drive member 11 drives the plug-in member 103 to move in the extension direction of the body 101. In this embodiment, the plug-in drive member 11 is arranged in the inner cavity of the body 101, and the plug-in member 103 can be connected to the plug-in drive member 11 by direct fixation or indirect connection. When the plug-in member 103 needs to be extended or retracted, the plug-in drive member 11 is opened and drives the plug-in member 103 to extend and retract, so that the plug-in member 103 moves along its axial direction in the extension direction of the body 101, so as to realize position adjustment during assembly or disassembly, and can achieve more accurate and stable position control, thereby improving response speed and positioning accuracy.

[0051] Specifically, the selection of the plug-in drive member 11 needs to be determined according to the load, speed and precision requirements of the actual application.

[0052] like Figure 2As shown, the plug-in drive member 11 includes a motor 111, a screw rod 112 and a drive block 113. The screw rod 112 extends along the extension direction of the body 101, and the screw rod 112 is rotatably arranged on the body 101, and the motor 111 is drivingly connected to the screw rod 112. The drive block 113 is threadedly connected to the screw rod 112, and the drive block 113 is connected to an end of the plug-in member 103 close to the second end 03, and the motor 111 cooperates with the drive block 113 through the screw rod 112 to drive the plug-in member 103 to move.

[0053] In this embodiment, the plug-in drive member 11 includes a motor 111, a screw rod 112 and a drive block 113. The motor 111 is driven and connected to the screw rod 112, so that the drive block 113 threadedly connected to one end of the screw rod 112 can reciprocate on the screw rod 112. Among them, the motor 111 is fixedly arranged on the left side of the inner cavity of the body 101 and connected to one end of the screw rod 112. The screw rod 112 extends along the extension direction of the body 101, and the screw rod 112 is rotatably arranged on one side of the inner cavity of the body 101, that is, the two ends of the screw rod 112 are fixedly connected to the inner wall of the body 101 to ensure its smooth rotation. The drive block 113 is threadedly connected to the screw rod 112, and the shape of the drive block 113 matches the shape of the inner cavity of the body 101 to ensure that it will not get stuck during the activity of the inner cavity of the body 101. The driving block 113 is connected to the connector 103 , and the motor 111 can drive the connector 103 to move in the inner cavity of the body 101 through the cooperation between the screw rod 112 and the driving block 113 .

[0054] Specifically, when it is necessary to splice adjacent rail bodies 101, the motor 111 is started, and the output shaft of the motor 111 rotates and drives the screw 112 to rotate. Since the drive block 113 is threadedly connected to the screw 112, the rotation of the screw 112 will push the drive block 113 to move along the axial direction of the screw 112, thereby driving the connector 103 connected to the drive block 113 to move to the outside of the rail body 101, and cooperate with the adjacent rail body 101 to complete the splicing. On the contrary, when it is necessary to store the connector 103, the motor 111 is reversed, and the drive block 113 moves inward along the screw 112, so that the connector 103 is stored in the inner cavity of the rail body 101, which does not affect the transportation and storage of the rail body 101, so that the extension and recovery of the connector 103 can be accurately controlled, ensuring the tight connection between the rail bodies 101, and improving the overall flexibility and practicality.

[0055] like Figure 1As shown, the plug hole 1031 passes through the second end 03 of the body 101 to the first end 02 of the body 101, and the plug connector 103 is movably arranged in the plug hole 1031. The plug connector 103 has a first connection state in which the plug hole 1031 protrudes from the end surface of the first end 02 and a first avoidance state in which the plug connector 103 is retracted into the plug hole 1031. When the plug connector 103 is in the first connection state, the plug connector 103 is plugged and matched with one end of the plug hole 1031 of the adjacent ground rail unit 10 located at the second end 03. And / or, the guide hole 1021 extends from the second end 03 of the body 101 to the first end 02 of the body 101, and the guide member 102 is movably arranged in the guide hole 1021. The guide member 102 has a second connection state in which the guide hole 1021 protrudes from the end surface of the first end 02 and a second avoidance state in which the guide member 102 is retracted into the guide hole 1021. When the guide member 102 is in the second connection state, the guide member 102 is plugged into and matched with one end of the guide hole 1021 of the adjacent ground rail unit 10 located at the second end 03.

[0056] In this embodiment, the plug hole 1031 and the guide hole 1021 both pass through the second end 03 of the body 101 to the first end 02, so that the ground rail unit 10 can be aligned and connected through the holes at both ends when spliced. The design of the plug hole 1031 and the guide hole 1021 can be linear or vary according to the shape of the specific track 01 to adapt to different connection requirements. The connector 103 and the guide member 102 are movably arranged in their respective holes, and can slide in the holes along their length directions. Among them, the connector 103 protrudes from the end face of the first end 02 to achieve a first connection state, and the connector 103 is retracted into the plug hole 1031 to achieve a first avoidance state. The guide member 102 protrudes from the end face of the first end 02 to achieve a second connection state, and the guide member 102 is retracted into the guide hole 1021 to achieve a second avoidance state. The flexibility of this design enables the ground rail units 10 to be tightly connected to each other when spliced, and the connecting parts and guide members 102 can be retracted during disassembly or transportation to reduce space occupation.

[0057] Specifically, when in the first connection state, the connector 103 protrudes from the end face of the first end 02 and can cooperate with the second end 03 of the plug hole 1031 of the adjacent ground rail unit 10 to form a firm mechanical connection. Such a connection method can ensure the stability and strength between the ground rail units 10 and reduce the vibration and displacement during the operation of the handling robot. When the connector 103 is in the first avoidance state, it is completely retracted into the plug hole 1031 and does not protrude from the end face of the first end 02, so that the ground rail body 101 can be more compact when not in use or during transportation, reducing the impact of the external structure on the ground rail body 101. Similarly, when the guide member 102 is in the second connection state, it protrudes from the end face of the first end 02 and cooperates with the second end 03 of the guide hole 1021 of the adjacent ground rail unit 10, providing a guiding function to ensure the precise alignment of the ground rail unit 10 when splicing. In the second avoidance state, the guide member 102 is retracted into the guide hole 1021, which is convenient for loading and unloading and maintenance of the ground rail body 101.

[0058] like Figure 3 As shown, the floor rail unit 10 further includes a locking structure 12, which is disposed between the guide member 102 and the body 101, and is used to fix the position of the guide member 102 relative to the body 101. In this embodiment, a locking structure 12 is disposed between the guide member 102 and the body 101, and after the guide member 102 is positioned at a desired position, the locking mechanism is manually operated to fix the relative position between the guide member 102 and the body 101, thereby ensuring the stability of the guide member 102 during plug-in mating.

[0059] Specifically, a locking hole is provided on the side of the guide member 102, and the locking holes are distributed along the extension direction of the guide member 102, and the number of the locking holes can be multiple to meet different positioning requirements. When the guide member 102 moves to a suitable position for plugging and matching with the guide hole 1021 of the adjacent ground rail unit 10, the operator can manually operate the handle of the locking pin to push the locking pin toward the body 101 until the locking end of the locking pin is aligned with and inserted into the locking hole of the body 101, thereby fixing the guide member 102 on the body 101. After the locking pin is inserted into the locking hole, it is necessary to ensure that the connection between the locking pin and the locking hole is firm.

[0060] like Figure 1 and Figure 4As shown, the top surface of the body 101 has a transport groove 1011, and the transport groove 1011 extends from the first end 02 to the second end 03. The driving assembly 20 includes a support base 201, a driving wheel 202, and a transport driving member 203. The support base 201 is located above the transport groove 1011, and the driving wheel 202 is arranged at the bottom of the support base 201, and at least part of the driving wheel 202 is located in the transport groove 1011. The transport driving member 203 is arranged on the support base 201, and the transport driving member 203 is drivingly connected to the driving wheel 202 to drive the support base 201 to move on the track 01.

[0061] In this embodiment, the support seat 201 is the main part of the drive assembly 20, which is located above the transport trough 1011 and can carry the handling robot or other items that need to be transported. The design of the support seat 201 should take into account its load-bearing capacity and stability. It is usually made of solid materials to ensure that it can withstand the pressure of heavy objects during the handling process while maintaining the stability of the structure. The driving wheel 202 is arranged at the bottom of the support seat 201, and its number and layout should be designed according to the weight and transportation requirements of the handling robot. The driving wheel 202 is located in the transport trough 1011, so that the driving wheel 202 can be in close contact with the inner wall of the transport trough 1011, and the support seat 201 is driven to move on the track 01 by friction. The transport drive 203 is arranged on the support seat 201, and its function is to provide power for the driving wheel 202. The transport drive member 203 is connected to the driving wheel 202 . When the transport drive member 203 is started, it can drive the driving wheel 202 to rotate, thereby driving the support seat 201 to move along the direction of the transport groove 1011 on the track 01 .

[0062] Specifically, the design of the driving wheel 202 can be a solid wheel or a wheel with grooves or teeth to enhance the friction and guiding ability between the inner wall of the transport trough 1011. The transport drive 203 can be a servo motor 111, a stepper motor 111 or other types of power sources, and its selection depends on the specific application requirements of the handling robot, such as load capacity, moving speed and accuracy.

[0063] Specifically, a reducer 2051 is provided between the transport drive 203 and the drive wheel 202 to adjust the speed and torque of the drive wheel 202 to ensure that the transport robot or the carried object can move smoothly and accurately. The layout of the drive wheel 202 should also consider the straightness and curvature of the track 01 to adapt to different transport paths.

[0064] Further, the driving assembly 20 includes a plurality of driving wheels 202, which are arranged on the support seat 201 at intervals along the extension direction of the body 101, and the driving assembly 20 also includes a plurality of gears 204 and a conveyor belt 205. Among them, the transport driving member 203 is drivingly connected with one of the gears 204, which are arranged on the support seat 201 at intervals along the extension direction of the body 101, and the gears 204 are arranged one by one with the driving wheels 202, and the gears 204 rotate synchronously with the corresponding driving wheels 202. The conveyor belt 205 is sleeved on the plurality of gears 204, and the transport driving member 203 cooperates with the plurality of gears 204 through the conveyor belt 205 to drive the plurality of driving wheels 202 to rotate synchronously.

[0065] In this embodiment, a plurality of driving wheels 202 are evenly distributed on the support seat 201 and are arranged at intervals along the extension direction of the ground rail body 101. Each driving wheel 202 is connected to the support seat 201 through a bearing to allow it to rotate freely and reduce the wear between the support seat 201 and the driving wheel 202. The synchronous rotation of the driving wheel 202 is achieved by a gear 204 and a conveyor belt 205. On the support seat 201, a plurality of gears 204 are arranged at intervals along the extension direction of the ground rail body 101, each gear 204 is arranged corresponding to a driving wheel 202, and the gears 204 and the driving wheels 202 are mechanically connected, such as a key or a spline, to ensure that they can rotate synchronously. One of the gears 204 is directly driven and connected to a transport drive 203 such as a servo motor 111, and when the transport drive 203 is started, it will directly drive the gear 204 to rotate. The conveyor belt 205 is sleeved on the plurality of gears 204 to form a closed loop structure. This closed-loop conveyor belt 205 connects multiple gears 204 together, ensuring that when the transport drive 203 drives one of the gears 204 to rotate, all the gears 204 and the corresponding drive wheels 202 can achieve synchronous rotation through the transmission effect of the conveyor belt 205, thereby driving the transport robot or the carrying platform to move smoothly on the track 01. In this way, even when transporting heavy objects, multiple drive wheels 202 can evenly distribute the load and reduce the wear of a single drive wheel 202. At the same time, due to the synchronous transmission of the gears 204 and the conveyor belt 205, the precise synchronization of the drive wheels 202 can be ensured, thereby improving the stability and efficiency of the transport process.

[0066] Furthermore, the top surface of the body 101 also has a guide groove 1012, and the guide groove 1012 and the transport groove 1011 are arranged side by side along the width direction of the body 101, and the guide groove 1012 extends from the first end 02 to the second end 03. The driving assembly 20 also includes an auxiliary seat 206 and an auxiliary wheel 207. The auxiliary seat 206 is detachably connected to the side of the support seat 201, the auxiliary seat 206 is located above the guide groove 1012, and the auxiliary wheel 207 is arranged at the bottom of the auxiliary seat 206, and at least part of the auxiliary wheel 207 is located in the guide groove 1012.

[0067] In this embodiment, the auxiliary seat 206 and the auxiliary wheel 207 are arranged on the top surface of the ground rail body 101, and the guide groove 1012 is arranged side by side along the width direction of the body 101. The guide groove 1012 extends from the first end 02 to the second end 03, and its length is consistent with the length of the ground rail body 101. It is used to guide the auxiliary wheel 207 on the handling robot to ensure the linearity and stability of the robot during movement. The driving assembly 20 not only includes the support seat 201 and the driving wheel 202 that are directly in contact with the handling robot, but also includes the auxiliary seat 206 and the auxiliary wheel 207. The auxiliary seat 206 is detachably connected to the side of the support seat 201 and can be installed or disassembled according to actual use requirements. The auxiliary seat 206 is located directly above the guide groove 1012, and auxiliary wheels 207 are arranged at the bottom, and these auxiliary wheels 207 are located in the guide groove 1012. When the driving assembly 20 moves, the auxiliary wheel 207 contacts the inner wall of the guide groove 1012 to play a guiding role, thereby preventing the driving assembly 20 from lateral deviation when moving on the track 01, thereby ensuring the stable operation of the transport robot.

[0068] like Figure 5 As shown, a connecting protrusion 2061 is provided on one side of the auxiliary seat 206 close to the support seat 201, a connecting groove 2011 is provided on one side of the support seat 201 close to the auxiliary seat 206, the connecting protrusion 2061 is matched and connected with the connecting groove 2011, a first connecting hole 2012 is provided on the top surface of the support seat 201, the first connecting hole 2012 is connected with the connecting groove 2011, a second connecting hole 2062 is provided on the connecting protrusion 2061, and the first connecting hole 2012 is coaxial with the second connecting hole 2062, and the ground rail unit 10 also includes a clamping member 13, a connecting column 14, a clamping protrusion 15 and a first elastic member 16. Among them, the clamping member 13 is detachably connected to the top of the support seat 201. The connecting column 14 is used to be inserted into the first connecting hole 2012 and the second connecting hole 2062, and one end of the connecting column 14 abuts against the clamping member 13. The pressing protrusion 15 is arranged on the side wall of the connecting column 14, and the pressing protrusion 15 is located above the connecting protrusion 2061. The first elastic member 16 is sleeved on the connecting column 14, one end of the first elastic member 16 abuts against the pressing member 13, and the other end of the first elastic member 16 abuts against the pressing protrusion 15, and the first elastic member 16 is used to provide a driving force for the pressing protrusion 15 to move toward the connecting protrusion 2061.

[0069] In this embodiment, a connecting protrusion 2061 is provided on one side of the auxiliary seat 206 close to the support seat 201, and a connecting groove 2011 is provided on one side of the support seat 201 close to the auxiliary seat 206. The size of the connecting groove 2011 matches that of the connecting protrusion 2061, so that the connecting protrusion 2061 can be smoothly inserted into the connecting groove 2011. A first connecting hole 2012 is provided on the top surface of the support seat 201. The first connecting hole 2012 is connected to the connecting groove 2011 and is used for the connection column 14 to pass through. A second connecting hole 2062 is provided on the connecting protrusion 2061. When the connecting protrusion 2061 is inserted into the connecting groove 2011, the first connecting hole 2012 and the second connecting hole 2062 are coaxially aligned, so that the connecting column 14 can pass through the second connecting hole 2062 from the first connecting hole 2012, thereby further fixing the auxiliary seat 206 and the support seat 201. The pressing member 13 is detachably connected to the top of the support seat 201, and is used to abut against one end of the connecting column 14 to apply a pressing force. The connecting column 14 is used to be inserted into the first connecting hole 2012 and the second connecting hole 2062, one end of the connecting column 14 abuts against the pressing member 13, and the other end passes through the second connecting hole 2062. The pressing protrusion 15 is arranged on the side wall of the connecting column 14 and is located above the connecting protrusion 2061. When the pressing member 13 is pressed downward, the pressing protrusion 15 contacts the other end of the first elastic member 16, thereby playing a role in positioning and preventing the connecting column 14 from moving sideways. The first elastic member 16 is sleeved on the connecting column 14, one end of which abuts against the pressing member 13, and the other end abuts against the pressing protrusion 15. When the first elastic member 16 is in a compressed state, it provides a driving force for the connecting protrusion 2061 to move toward the auxiliary seat 206. That is, when the auxiliary seat 206 needs to be separated from the support seat 201, the elastic force of the first elastic member 16 can help the connecting column 14 to be easily pulled out from the first connecting hole 2012 and the second connecting hole 2062, thereby reducing the resistance and complexity during the disassembly process.

[0070] Specifically, the connection protrusion 2061 generally has a shape matching the connection groove 2011, such as a cylindrical, rectangular or other customized shapes, to ensure the tightness and stability of the connection.

[0071] like Figure 5 and Figure 6As shown, the side wall of the auxiliary seat 206 is provided with an abutment groove 2063, the abutment groove 2063 extends along the extension direction of the body 101, and the abutment groove 2063 is located in the guide groove 1012. The ground rail unit 10 also includes a mounting frame 17, a plurality of rollers 18 and a second elastic member 19. The mounting frame 17 is arranged on the side wall of the guide groove 1012, the mounting frame 17 is arranged along the extension direction of the body 101, and the mounting frame 17 can move in the width direction of the body 101 relative to the guide groove 1012. A plurality of rollers 18 are rotatably arranged on the mounting frame 17, and the rollers 18 are used to cooperate with the abutment groove 2063. The second elastic member 19 is arranged between the mounting frame 17 and the body 101, and the second elastic member 19 is used to provide a driving force for the mounting frame 17 to move toward the auxiliary seat 206.

[0072] In this embodiment, an abutment groove 2063 is provided on the side wall of the auxiliary seat 206, and the abutment groove 2063 extends along the extension direction of the ground rail body 101 and is located in the guide groove 1012. The function of the abutment groove 2063 is to provide a surface for the roller 18 to cooperate with it, and the roller 18 can roll in the abutment groove 2063, thereby reducing the friction between the auxiliary seat 206 and the ground rail body 101 and improving the smoothness of movement. The ground rail unit 10 also includes a mounting frame 17, a plurality of rollers 18 and a second elastic member 19. Among them, the mounting frame 17 is arranged on the side wall of the guide groove 1012 and is arranged along the extension direction of the ground rail body 101. The mounting frame 17 can move relative to the guide groove 1012 in the width direction of the ground rail body 101, so that the roller 18 can be accurately aligned with the abutment groove 2063 of the auxiliary seat 206, ensuring the tightness and stability of the connection between the auxiliary seat 206 and the ground rail body 101. A second elastic member 19 is provided between the mounting frame 17 and the ground rail body 101, which can ensure effective contact between the roller 18 and the abutment groove 2063. The function of the second elastic member 19 is to provide an elastic force toward the auxiliary seat 206 to the mounting frame 17, so as to ensure that the roller 18 always keeps in contact with the surface of the abutment groove 2063. Even if the weight of the handling robot or the carried objects changes or the ground rail body 101 is slightly deformed, the stability and guiding accuracy of the auxiliary seat 206 can be maintained.

[0073] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0074] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the present invention. Meanwhile, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and therefore, once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0075] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the devices or elements referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention. The directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0076] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0077] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0078] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A ground rail device, characterized in that: The ground rail device comprises: A track (01), the track (01) comprising a plurality of ground track units (10) connected in sequence, each of the ground track units (10) comprising a body (101), a guide member (102) and a plug-in member (103), the body (101) having a first end (02) and a second end (03) arranged opposite to each other along an extension direction, the second end (03) of the body (101) having a guide hole (1021) and a plug-in hole (1031), the guide hole (1021) and the plug-in hole (1031) both being arranged along the extension direction of the body (101), the guide member (102) and the plug-in hole (1031) being arranged along the extension direction of the body (101), ) is movably arranged at the first end (02) of the body (101), the plug-in component (103) is movably arranged at the first end (02) of the body (101), the guide component (102) and the plug-in component (103) both move along the extension direction of the body (101), the guide component (102) is used for plugging and matching with the guide hole (1021) of the adjacent ground rail unit (10), and the plug-in component (103) is used for plugging and matching with the plug-in hole (1031) of the adjacent ground rail unit (10) to connect two adjacent ground rail units (10); A driving assembly (20) is movably arranged on the track (01), and the driving assembly (20) is used to carry and transport items.

2. The ground rail device according to claim 1, characterized in that: The ground rail unit (10) further comprises: A plug-in drive component (11) is arranged on the main body (101), the plug-in drive component (11) is drivingly connected to the plug-in component (103), and the plug-in drive component (11) drives the plug-in component (103) to move in the extension direction of the main body (101).

3. The ground rail device according to claim 2, characterized in that: The plug-in drive member (11) comprises: Motor (111); A screw rod (112) extends along the extension direction of the body (101); the screw rod (112) is rotatably arranged on the body (101); and the motor (111) is drivingly connected to the screw rod (112); A driving block (113) is threadedly connected to the screw rod (112), the driving block (113) is connected to an end of the connector (103) close to the second end (03), and the motor (111) cooperates with the driving block (113) through the screw rod (112) to drive the connector (103) to move.

4. The ground rail device according to claim 1, characterized in that: The plug-in hole (1031) extends from the second end (03) of the body (101) to the first end (02) of the body (101); the plug-in component (103) is movably arranged in the plug-in hole (1031); the plug-in component (103) has a first connection state in which the plug-in hole (1031) protrudes from the end surface of the first end (02) and a first avoidance state in which the plug-in component (103) is retracted into the plug-in hole (1031); when the plug-in component (103) is in the first connection state, the plug-in component (103) is plugged and matched with an end of the plug-in hole (1031) of the adjacent ground rail unit (10) located at the second end (03); and / or, The guide hole (1021) passes through the second end (03) of the body (101) to the first end (02) of the body (101); the guide member (102) is movably arranged in the guide hole (1021); the guide member (102) has a second connection state in which the guide hole (1021) protrudes from the end surface of the first end (02) and a second avoidance state in which the guide member (102) is retracted into the guide hole (1021); when the guide member (102) is in the second connection state, the guide member (102) is plug-fitted with an end of the guide hole (1021) of the adjacent ground rail unit (10) located at the second end (03).

5. The ground rail device according to claim 1, characterized in that: The ground rail unit (10) further comprises: A locking structure (12) is arranged between the guide member (102) and the body (101), and the locking structure (12) is used to fix the position of the guide member (102) relative to the body (101).

6. The ground rail device according to claim 1, characterized in that: The top surface of the body (101) has a transport groove (1011), and the transport groove (1011) extends from the first end (02) to the second end (03). The driving assembly (20) comprises: A support seat (201), located above the transport trough (1011); A driving wheel (202) is arranged at the bottom of the support seat (201), and at least a portion of the driving wheel (202) is located in the transport trough (1011); A transport driving member (203) is arranged on the support base (201), and the transport driving member (203) is drivingly connected to the driving wheel (202) to drive the support base (201) to move on the track (01).

7. The ground rail device according to claim 6, characterized in that: The driving assembly (20) comprises a plurality of driving wheels (202), wherein the plurality of driving wheels (202) are arranged on the support seat (201) at intervals along the extension direction of the body (101), and the driving assembly (20) further comprises: a plurality of gears (204), the transport driving member (203) being drivingly connected to one of the gears (204), and being arranged on the support seat (201) at intervals along the extension direction of the body (101); the gears (204) and the driving wheels (202) being arranged in one-to-one correspondence, and the gears (204) and the corresponding driving wheels (202) rotating synchronously; The conveyor belt (205) is sleeved on the plurality of gears (204), and the transport driving member (203) cooperates with the plurality of gears (204) through the conveyor belt (205) to drive the plurality of driving wheels (202) to rotate synchronously.

8. The ground rail device according to claim 6, characterized in that: The top surface of the body (101) further comprises a guide groove (1012), the guide groove (1012) and the transport groove (1011) are arranged side by side along the width direction of the body (101), and the guide groove (1012) extends from the first end (02) to the second end (03). The driving assembly (20) further comprises: An auxiliary seat (206) is detachably connected to the side of the support seat (201), and the auxiliary seat (206) is located above the guide groove (1012); An auxiliary wheel (207) is arranged at the bottom of the auxiliary seat (206), and at least a portion of the auxiliary wheel (207) is located in the guide groove (1012).

9. The ground rail device according to claim 8, characterized in that: A connecting protrusion (2061) is provided on one side of the auxiliary seat (206) close to the supporting seat (201), a connecting groove (2011) is provided on one side of the supporting seat (201) close to the auxiliary seat (206), the connecting protrusion (2061) is matched and connected with the connecting groove (2011), a first connecting hole (2012) is provided on the top surface of the supporting seat (201), the first connecting hole (2012) is communicated with the connecting groove (2011), a second connecting hole (2062) is provided on the connecting protrusion (2061), the first connecting hole (2012) and the second connecting hole (2062) are coaxial, and the ground rail unit (10) further comprises: A pressing member (13) detachably connected to the top of the support seat (201); A connecting column (14) is used to be inserted into the first connecting hole (2012) and the second connecting hole (2062), and one end of the connecting column (14) is in contact with the pressing member (13); A pressing protrusion (15) is arranged on the side wall of the connecting column (14), and the pressing protrusion (15) is located above the connecting protrusion (2061); A first elastic member (16) is sleeved on the connecting column (14), one end of the first elastic member (16) abuts against the clamping member (13), and the other end of the first elastic member (16) abuts against the clamping protrusion (15), and the first elastic member (16) is used to provide a driving force for the clamping protrusion (15) to move toward the connecting protrusion (2061).

10. The ground rail device according to claim 8, characterized in that: An abutment groove (2063) is provided on the side wall of the auxiliary seat (206), the abutment groove (2063) extends along the extension direction of the body (101), and the abutment groove (2063) is located in the guide groove (1012). The ground rail unit (10) further comprises: A mounting frame (17) is arranged on a side wall of the guide groove (1012), the mounting frame (17) is arranged along the extension direction of the body (101), and the mounting frame (17) can move relative to the guide groove (1012) in the width direction of the body (101); A plurality of rollers (18) are rotatably arranged on the mounting frame (17), and the rollers (18) are used to cooperate with and abut against the abutment grooves (2063); A second elastic member (19) is arranged between the mounting frame (17) and the main body (101), and the second elastic member (19) is used to provide a driving force for the mounting frame (17) to move toward the auxiliary seat (206).

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