Docking system and rail hanging robot assembly

Abstract

The invention belongs to the technical field of robots, and particularly discloses a butt joint system which comprises a clamping jaw assembly, the clamping jaw assembly comprises a clamping jaw seat and a plurality of clamping jaws, and the clamping jaws are hinged to the clamping jaw seat at intervals in the circumferential direction of the clamping jaw seat; the ball head assembly is provided with a ball head part and a rotating part, the ball head part is inserted into a clamping space formed between the inner walls of the clamping jaws, and the ball head part is hinged to the rotating part; the adjusting assembly comprises an annular plate and a plurality of first elastic pieces, the annular plate is arranged on the outer side of the clamping jaw in a sleeving mode, the first elastic pieces are arranged between the annular plate and the clamping jaw base at intervals, and the adjusting assembly adjusts the radial size of the clamping space and clamps or loosens the ball head part. During working, components of the docking system can be prevented from being separated from each other due to external acting force; and the docking system can flexibly rotate according to a road section to be matched with the rail hanging robot assembly to move. The invention further discloses a rail hanging robot assembly.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a docking system and a rail-hanging robot assembly. Background Art

[0002] The rail-mounted robot is a robot that can perform inspection tasks in harsh and special environments. It has multiple functions and is designed to replace manual inspection tasks and improve operation and maintenance efficiency. The rail system of the rail-mounted robot is designed and installed according to the actual situation of the project site. It is usually set up in the air. The rail-mounted robot walks along the track to achieve full coverage of the objects to be inspected at the project site, making full use of the site space and improving safety and space utilization.

[0003] When the rail inspection robot fails, a special rail rescue robot is used to drag it to the designated location for repair through the docking system. Due to the limitations of the project site, the rail system inevitably has curved sections, uphill sections and downhill sections. The current docking system has an articulated claw mechanism, such as the application publication number CN111946942A, named a rescue system suitable for pipeline robot operations. When it moves, it is easy to open due to external vibrations, causing the conical head to fall off, and the docking system fails. Another example is the authorization announcement number CN219601249U, named a robot traction docking system, whose connection structure switches between curved sections and straight sections, uphill sections or downhill sections, and the traction docking system components are rigidly connected. In the above sections, the rail inspection machine cannot move flexibly with the rail rescue robot. Summary of the invention

[0004] The purpose of the present invention is to provide a docking system. After docking, the components of the docking system can avoid being separated by external forces, and the docking system can be flexibly rotated according to the road section to cooperate with the movement of the track-hanging robot assembly.

[0005] The object of the present invention is achieved through such a technical solution, a docking system, comprising:

[0006] The claw assembly comprises a claw seat and a plurality of claws, wherein the claws are hingedly mounted on the claw seat at intervals along the circumference of the claw seat;

[0007] The ball head assembly is provided with a ball head and a rotating part, the ball head is inserted into the engaging space formed between the inner walls of the claws, and the ball head is hinged to the rotating part;

[0008] The adjustment component includes a ring plate and a plurality of first elastic members. The ring plate is sleeved on the outer side of the claw. The first elastic members are spaced between the ring plate and the claw seat. The adjustment component adjusts the radial size of the engagement space to clamp or release the ball head.

[0009] Preferably, the claw seat is provided with an elastic member column, the first elastic member is at least partially arranged in the elastic member column, one end of the first elastic member is connected to the inner wall of the elastic member column, and the other end is abutted against the ring plate.

[0010] Preferably, an annular groove is provided between the ball head and the rotating part, and the inner wall of the claw is provided with an inner concave arc matching the outer shape of the ball head.

[0011] Preferably, the ball head assembly also includes a tapered guide portion, which is arranged at the front end of the ball head portion, and the claw assembly is provided with a frustum column, which is provided with an inner hole matching the outer shape of the tapered guide portion, and the tapered guide portion is inserted into the inner hole.

[0012] Preferably, the inner hole is provided with a buffer, a second elastic member and a baffle, and one end of the second elastic member is connected to the inner wall of the inner hole, and the other end is connected to the baffle.

[0013] Preferably, a third elastic member is provided at intervals on the side wall of the inner hole, and the tapered guide portion abuts against the outer side of the third elastic member when inserted into the inner hole.

[0014] Preferably, the ball head assembly further comprises an elastic ring, which is nested on the outside of the rotating part, and a groove is provided on the outer surface of the elastic ring.

[0015] Preferably, a first limiting plate is provided on the outer surface of the rotating part, a second limiting plate is provided on the outer surface of the ball head, and the elastic ring is arranged between the first limiting plate and the second limiting plate.

[0016] Preferably, the rotating part also includes a rotating U-shaped frame, a pin shaft and a fourth elastic member, the pin shaft is installed in the U-shaped frame, the ball head is hingedly installed on the pin shaft, and the fourth elastic member is sleeved on the outside of the pin shaft and located between the inner wall of the U-shaped frame and the hinge of the ball head.

[0017] Due to the adoption of the above technical solution, the present invention has the following advantages: an adjustment component is arranged outside the claw, and when the ball head is inserted into the claw, the adjustment component fastens the ball head in the claw to prevent the ball head from falling off from the claw due to external vibration. The ball head is hingedly arranged with the rotating part, and the ball head can rotate around the rotating part at a certain angle according to the actual scene, so that the ball head can flexibly pass through curved sections, uphill sections or downhill sections.

[0018] Another object of the present invention is to provide a rail-hanging robot assembly, which, through a docking system, enables the rail-hanging rescue robot to stably and flexibly move the rail-hanging inspection robot to a designated position.

[0019] Another object of the present invention is achieved through such a technical solution, specifically providing a rail-hanging robot assembly, including a docking system, a rail-hanging inspection robot and a rail-hanging rescue robot, the claw assembly is installed on the rail-hanging rescue robot or on the rail-hanging inspection robot, and correspondingly, the ball head assembly is installed on the rail-hanging inspection robot or on the rail-hanging rescue robot.

[0020] Due to the adoption of the above technical solution, the present invention has the following advantages: through the docking structure, the rail-hanging rescue robot can stably and flexibly move the rail-hanging inspection robot to a designated position. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the specific implementation of the present invention, the following will briefly introduce the drawings required for use in the specific implementation. In all the drawings, each element or part is not necessarily drawn according to the actual scale.

[0022] Figure 1 It is a structural schematic diagram of a docking system of the present invention;

[0023] Figure 2 It is a structural schematic diagram of the claw assembly;

[0024] Figure 3 It is a schematic diagram of the claw seat;

[0025] Figure 4 is a schematic diagram of the claw;

[0026] Figure 5 is a structural schematic diagram of a ball head assembly;

[0027] Figure 6 It is a schematic diagram of a truncated cone column;

[0028] Figure 7 It is a schematic diagram of a U-shaped frame;

[0029] Figure 8 It is a schematic diagram of the assembly structure of the rail-hanging robot of the present invention.

[0030] Reference numerals:

[0031] 1-claw assembly, 11-claw seat, 111-support platform, 112-connecting shaft, 113-elastic member column, 114-annular groove, 115-first through hole, 116-installation groove, 12-claw, 121-clamping space, 122-tail end of the claw, 123-head end of the claw, 124-inner concave arc, 125-limiting platform, 126-second through hole, 13-round table column, 131-inner hole, 132-second elastic member, 133-baffle, 134-buffer, 135-third elastic member, 14-fastening hoop,

[0032] 2-ball head assembly, 21-ball head, 211-ball head, 212-ball head handle, 213-ring groove, 214-second limit plate, 22-rotating part, 221-U-shaped frame, 222-pin shaft, 223-fourth elastic member, 224-third through hole, 225-first limit plate, 23-conical guide part, 24-elastic ring, 241-slot,

[0033] 3-adjustment assembly, 31-ring plate, 311-ring edge platform, 32-first elastic member,

[0034] 4-Hanging rail inspection robot, 5-Hanging rail rescue robot. DETAILED DESCRIPTION

[0035] See also Figures 1 to 5 , a docking system, including: a claw assembly 1, a ball head assembly 2 and an adjustment assembly 3.

[0036] The claw assembly 1 includes a claw seat 11 and a plurality of claws 12, which are hingedly installed on the claw seat 11 at intervals along the circumference of the claw seat 11; the ball head assembly 2 is provided with a ball head 21 and a rotating part 22, the ball head 21 is inserted into the engaging space 121 formed between the inner walls of the claw 12, and the ball head 21 is hinged with the rotating part 22; the adjustment component 3 includes a ring plate 31 and a plurality of first elastic members 32, the ring plate 31 is sleeved on the outer side of the claw 12, the first elastic members 32 are spaced between the ring plate 31 and the claw seat 11, and the adjustment component 3 adjusts the radial size of the engaging space 121 to clamp or loosen the ball head 21. Specifically, the end of the claw seat 11 is a disc, and the surface of the disc is provided with a support platform 111 that matches the outer wall shape of the claw 12, and the support platform 111 is nested between two adjacent claws 12 to support and connect the claws 12. The side of the support platform 111 is provided with a first through hole 115, and the claw 12 is provided with a second through hole 126, and the first through hole 115 and the second through hole 126 are coaxial. The claw seat 11 is provided with a connecting shaft 112, and the connecting shaft 112 is fixedly installed in the first through holes 115 of two adjacent support platforms 111. The claw 12 is hinged in the support platform 111 through the connecting shaft 112. The claw 12 can rotate at a certain angle, so that several claws 12 can be close to or away from each other, and the inner walls of several claws 12 constitute a clamping space 121 for accommodating the ball head 21. Preferably, the support platform 111 is welded to the claw seat 11 or the support platform 111 and the claw seat 11 are integrally formed. The claw seat 11 is provided with a mounting groove 116 for the claw 12, which plays a role in positioning and quick installation during installation; when in use, it and the support platform 111 limit the movement of the claw 12. The claw 12 includes a tail end 122 of the claw and a head end 123 of the claw. The tail end 122 of the claw is close to the claw seat 11. The outer diameter of the claw 12 gradually increases from the tail end 122 of the claw to the head end 123 of the claw, so as to facilitate the ring plate 31 to move along the outer side of the claw 12. Preferably, a limit platform 125 is provided at the head end 123 of the claw, and the ring plate 31 is sleeved between the limit platform 125 and the claw seat 11. The limit platform 125 is provided to prevent the ring plate 31 from moving out of the claw 12. In the free state, the diameter of the inner wall of the head end 123 of the claw is smaller than the diameter of the ball head 21, and the inner diameter of the engaging space 121 is larger than the diameter of the inner wall of the head end 123 of the claw, and the outer shape of the engaging space 121 matches the ball head 21. A plurality of first elastic members 32 are provided, which are evenly spaced and arranged along the circumference of the claw seat 11. One end of the first elastic member 32 is fixedly mounted on the claw seat 11 by welding, and the other end is in contact with the ring plate 31. Preferably, the first elastic member 32 is a spring, and the number is four. The claw assembly 1 is also provided with a fastening hoop 14, which is provided at the tail end 122 of the claw, and an annular groove 114 is provided along the outer wall of the support platform 111 and the claw 12. The fastening hoop 14 is nested in the annular groove 114 to constrain the rotation angle of the claw 12 and assist the claws 12 to be connected together.

[0037] The docking structure of the present invention sets the axis of the ball head 21 and the claw 12 on the same straight line in advance. When in use, the ball head assembly 2 is fixed in advance, the claw assembly 1 moves toward the ball head assembly 2 under the drive of external force, the ball head 21 is inserted into the claw 12, and the claw 12 gradually opens to a certain angle due to the change in the outer diameter of the ball head 21. At the same time, the outer side of the claw 12 drives the adjustment assembly 3 to move toward the claw seat 11, and the first elastic member 32 is compressed to store energy. The ball head 21 enters the engaging space 121. At this time, the inner diameter of the engaging space 121 is larger than the outer diameter of the ball head 21. The ring plate 31 moves toward the head end 123 of the claw under the action of the first elastic member 32, so that the claw 12 is moved toward the axis under the action of the adjustment member group 3 until the outer wall of the ball head 21 is tightly connected with the inner wall of the claw 12, and the ball head 21 is fixed in the engaging space 121. During the movement of the claw assembly 1 and the ball head assembly 2, when the docking structure is subjected to external vibration, the claw 12 is subjected to the pressure of the adjustment member group 3, and the claw 12 cannot rotate. The ball head 21 is always fixed in the claw 12 and will not fall off. When not in use, the ring plate 31 is moved toward the claw seat 11 by force. At this time, the claw 12 can rotate, so that the ball head assembly 2 can be taken out. When the claw assembly 1 pulls the ball head assembly 2 to move, encountering a curved section, an uphill section or a downhill section, at this time, the axis of the claw assembly 1 and the axis of the ball head assembly 2 will have a certain angle. Because the ball head 21 is hinged with the rotating part 22, the ball head 21 can rotate around the rotating part 22 according to the actual scene. The ball head assembly 2 can flexibly rotate to match the claw assembly 1. Keep the claw assembly 1 and the ball head 21 in proper connection, and flexibly pass through the above-mentioned sections without reducing or accelerating the moving speed to avoid accidents.

[0038] See also Figure 1 and Figure 2 , further, the claw seat 11 is provided with an elastic member column 113, the first elastic member 32 is at least partially arranged in the elastic member column 113, one end of the first elastic member 32 is connected to the inner wall of the elastic member column 113, and the other end is abutted against the ring plate 31. Specifically, the claw seat 11 is provided with an elastic member column 113 matched with each first elastic member 32. The elastic member column 113 penetrates and is welded and installed on the claw seat 11, one end of the elastic member column 113 is provided with a top wall, the ring plate 31 is provided with a ring edge platform 311, one end of the first elastic member 32 is installed on the inner wall of the top wall of the elastic member column 113 by welding, and the other end is abutted against the ring edge platform 311. The inner diameter of the elastic member column 113 is slightly larger than the outer diameter of the first elastic member 32, so that the first elastic member 32 can be easily placed in the elastic member column 113 without interfering with the expansion and contraction of the first elastic member 32. Preferably, the depth of the elastic member column 113 is long enough so that most of the first elastic member 32 is disposed in the elastic member column 113. With this structure, the expansion and contraction direction of the first elastic member 32 is along the axial direction of the elastic member column 113, which limits the deformation and direction of the expansion and contraction of the first elastic member 32. The expansion and contraction of the first elastic member 32 will not deviate, thereby ensuring that a force is applied to the claw 12.

[0039] See also Figure 5 , further, an annular groove 213 is provided between the ball head 21 and the rotating part 22, and an inner concave arc 124 matching the shape of the ball head is provided on the inner wall of the claw 12. Specifically, the ball head 21 includes a ball head 211 and a ball head handle 212, one end of the ball head handle 212 is connected to the surface of the ball head 211, and the other end is hinged to the rotating part 22. An annular groove 213 is provided on the surface of the ball head handle 212 close to the ball head 211, and the outer diameter of the annular groove 213 is smaller than the outer diameter of the ball head 21. An inner concave arc 124 is provided on the inner wall of the claw 12, and when the ball head 211 is inserted into the engaging space 121, the front end 123 of the claw is engaged in the annular groove 213, which helps to increase the connection strength between the claw assembly 1 and the ball head assembly 2, and the ball head 21 will not fall off from the engaging space 121. Preferably, the head end 123 of the claw is provided with a chamfer to facilitate the entry of the ball head 21. Preferably, the ball head handle 212 is formed integrally with the ball head 21.

[0040] See also Figure 5 and Figure 6 Further, the ball head assembly 2 also includes a conical guide portion 23, which is arranged at the front end of the ball head 21, and the claw assembly 1 is provided with a truncated cone column 13, which is provided with an inner hole 131, and the conical guide portion 23 is inserted into the inner hole 131. Specifically, the conical guide portion 23 is arranged at the front end of the ball head 211, and the truncated cone column 13 is installed on the claw seat 11 by welding, or the truncated cone column 13 and the claw seat 11 are formed in one piece, and the truncated cone column 13 at least partially extends into the end of the claw 12 away from the ball head assembly 2, and the axis of the inner hole 131 is in a straight line with the axis of the claw 12. The conical guide portion 23 is cylindrical at one end close to the truncated cone column 13, and is cone-shaped at the rear end. The inner hole 131 matches the outer shape of the conical guide portion 23. With this structure, the conical docking ensures centering and has a guiding effect, thereby ensuring installation accuracy and strength.

[0041] See also Figure 5 and Figure 6 Furthermore, the inner hole 131 is provided with a buffer 134, and the buffer 134 includes a second elastic member 132 and a baffle 133, and one end of the second elastic member 132 is connected to the inner wall of the inner hole 131, and the other end is connected to the baffle 133. Preferably, the second elastic member 132 is a spring, and with this structure, the tapered guide portion 23 has a buffering effect when inserted into the inner hole 131, which prevents the tapered guide portion 23 from rigidly entering the inner hole 131, and has a protective effect on the tapered guide portion 23.

[0042] See also Figure 5 and Figure 6Further, the side wall of the inner hole is provided with a third elastic member 135 at intervals, and the tapered guide portion 23 abuts against the outer side of the third elastic member 135 when inserted into the inner hole 131. Specifically, four third elastic members 135 are provided, which are evenly spaced along the inner wall of the inner hole 131. A third elastic member installation groove is provided on the inner wall of the inner hole 131, and the third elastic member 135 is installed in the third elastic member installation groove. The outer side of the third elastic member 135 abuts against the outer side of the tapered guide portion 23. Preferably, the third elastic member 135 adopts a spring sheet. With this structure, the tapered guide portion 23 is clamped in the third elastic member 135, which helps the ball head 21 not to fall off the claw assembly 1.

[0043] See also Figure 1 Furthermore, the ball head assembly 2 also includes an elastic ring 24, which is nested outside the rotating part 22, and a groove 241 is provided on the outer surface of the elastic ring 24. Specifically, the elastic ring 24 covers the rotating part 22 and a part of the ball head handle 212. When the ball head handle 212 rotates around the rotating part 22 at a certain angle, the elastic ring 24 is deformed, which has a buffering and restraining effect on the rotation angle of the ball head handle 212, so that the ball head assembly 2 can flexibly rotate to cooperate with the claw assembly 1. Under the elastic force of the elastic ring 24, the ball head handle 212 can quickly return to its original position, keep the ball head handle 212 and the rotating part 22 on the same axis, and complete the switching between the curved section, the straight section, the uphill section or the downhill section. The outer surface of the elastic ring 24 is provided with a groove 241, which is one of an annular groove, a thread groove or a slot hole arranged at intervals along the circumferential direction. There are a plurality of grooves 241, which are evenly spaced along the axial direction of the elastic ring 24. This structure not only reduces the weight of the elastic ring 24, but also improves the deformation capacity of the elastic ring 24. The elastic ring 24 quickly adapts to the rotation angle of the ball head handle 212, accelerates the ball head handle 212 to return to its original position, and improves the service life of the elastic ring 24. Preferably, the elastic ring 24 is made of transparent material. The use of transparent material facilitates the inspection of whether the parts inside the rotating part 22 or the elastic ring 24 are worn and need maintenance or replacement.

[0044] See also Figure 5 and Figure 7Further, the rotating part 22 includes a rotating U-shaped frame 221, a pin 222 and a fourth elastic member 223. The pin 222 is installed in the U-shaped frame 221, the ball head 21 is hingedly installed on the pin 222, and the fourth elastic member 223 is sleeved on the outside of the pin 222 and is located between the inner wall of the U-shaped frame 221 and the hinge of the ball head. Specifically, one end of the U-shaped frame 221 is opened toward one end of the ball head handle 212, and the ball head handle 212 is hinged between the two arms of the U-shaped frame 221 and can rotate around the hinge point by a certain angle. The U-shaped frame 221 is provided with a third through hole 224; the pin 222 is installed in the U-shaped frame 221 through the third through hole 224. The fourth elastic member 223 is sleeved on the outside of the pin 222, and the pin 222 limits the position and direction of the expansion and contraction of the fourth elastic member 223 to prevent the fourth elastic member 223 from deforming and displacing. One end of the elastic member 231 abuts against the inner wall of the U-shaped frame 221, and the other end abuts against the outer side of the ball handle 212. This joint can buffer the rotation angle of the ball handle 212, reduce instantaneous impact, and help the ball handle 212 to return to its original position. Preferably, the fourth elastic member 223 is a spring, and two groups of the fourth elastic member 223 are symmetrically mounted at both ends of the pin 222. This helps the ball handle 212 adapt to left or right curved sections.

[0045] See also Figure 5 Further, a first limiting plate 225 is provided on the outer surface of the rotating part 22, a second limiting plate 214 is provided on the outer surface of the ball head 21, and the elastic ring 24 is arranged between the first limiting plate 225 and the second limiting plate 214. Specifically, the first limiting plate 225 is integrally formed with the rotating part 22, and the second limiting plate 214 is integrally formed with the ball head handle 212. The elastic ring 24 is installed between the first limiting plate 225 and the second limiting plate 214 by sol after deformation. This structure increases the strength of the tail and head of the elastic ring 3, and the deformation limit is between the first limiting plate 225 and the second limiting plate 214.

[0046] See also Figure 8A rail-hanging robot assembly includes a docking system, a rail-hanging inspection robot 4 and a rail-hanging rescue robot 5, a claw assembly 1 is installed on the rail-hanging rescue robot 5 or on the rail-hanging inspection robot 4, and correspondingly, a ball head assembly 2 is installed on the rail-hanging inspection robot 4 or on the rail-hanging rescue robot 5. Specifically, the claw seat 11 is provided with a mounting hole, which is installed at the front end of the rail-hanging rescue robot 5 or the rear end of the rail-hanging inspection robot 4 by bolts. Correspondingly, the ball head assembly 2 is also provided with a mounting positioning hole, which is installed at the rear end of the rail-hanging inspection robot 4 or the front end of the rail-hanging rescue robot 5 by bolts. When the rail-hanging inspection robot 4 fails, the rail-hanging inspection robot 4 stops on the track, and the rail-hanging rescue robot 5 is driven by its own power, and the claw assembly 1 moves toward the ball head assembly 2 to complete the docking work and drag the rail-hanging inspection robot 4 to the specified position, and the ring plate 31 is moved toward the claw seat 11, and the rail-hanging inspection robot 4 is removed for maintenance.

[0047] The docking system and rail-hanging robot assembly of the present invention are provided with an adjustment component 3 on the outside of the claw 12. When the ball head 21 is inserted into the claw 12, the adjustment component 3 moves toward the claw seat 11, and the first elastic member 32 stores energy. After the ball head 212 is inserted into the engaging space 121, the ring plate 31 is moved toward the head end 123 of the claw by the action of the first elastic member 32, and pressure is applied to the claw 12, so that the ball head assembly 2 is fastened to the claw assembly 1 to prevent the ball head 21 from falling off from the claw assembly 1 due to external vibration. The ball head 21 is hinged with the rotating part 22, and an elastic ring 24 is provided on the outside of the rotating part 22, so that the ball head 21 can rotate around the rotating part 22 at a certain angle according to the actual scene. The elastic ring 24 constrains the rotation angle, and the rotation angle will not be too large to cause an accident. After completing the curved section, uphill section or downhill section, the ball head 21 can quickly return to its original position due to the elastic force of the elastic ring 24. An elastic member column 113 is provided on the claw seat 11, and the first elastic member 32 is stably extended and retracted without deviation. A truncated cone column 13 is provided on the claw assembly 1, and a second elastic member 132 and a third elastic member 135 are provided on the truncated cone column 13, which have a protective and clamping effect on the conical guide portion 23, and help the ball head 21 not to fall off the claw assembly 1. A groove 241 is provided on the outer surface of the elastic ring 24, which not only reduces the mass of the elastic ring 24, but also improves the deformation ability of the elastic ring 24, so that the elastic ring 24 quickly adapts to the rotation angle of the ball head handle 212, accelerates the ball head handle 212 to return to its original position, and improves the service life of the elastic ring 24. Two sets of fourth elastic members 223 are symmetrically arranged on the rotating part 22, which helps the rail-hanging robot adapt to the movement of left-curved sections, right-curved sections, uphill sections or downhill sections.

[0048] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the scope of the present invention should be included in the protection scope of the present invention.

Claims

1. A docking system, characterized in that: include: The claw assembly (1) comprises a claw seat (11) and a plurality of claws (12), wherein the claws (12) are hingedly mounted on the claw seat (11) at intervals along the circumference of the claw seat (11); The ball head assembly (2) is provided with a ball head portion (21) and a rotating portion (22), the ball head portion (21) is inserted into a clamping space (121) formed between the inner walls of the clamping claw (12), and the ball head portion (21) is hingedly connected to the rotating portion (22); and The adjustment assembly (3) comprises a ring plate (31) and a plurality of first elastic members (32). The ring plate (31) is sleeved on the outer side of the clamping claw (12). The first elastic members (32) are arranged between the ring plate (31) and the clamping claw seat (11) at intervals. The adjustment assembly (3) adjusts the radial size of the clamping space (121) to clamp or release the ball head (21).

2. The docking system according to claim 1, characterized in that: The claw seat (11) is provided with an elastic member column (113), the first elastic member (32) is at least partially arranged in the elastic member column (113), one end of the first elastic member (32) is connected to the inner wall of the elastic member column (113), and the other end is abutted against the ring plate (31).

3. The docking system according to claim 1 or 2, characterized in that: The ball head (21) is provided with an annular groove (213), and the inner wall of the claw (12) is provided with an inner concave arc (124) matching the outer shape of the ball head (21).

4. The docking system according to claim 1 or 2, characterized in that: The ball head assembly (2) further comprises a conical guide portion (23) which is arranged at the front end of the ball head portion (21). The claw assembly (1) is provided with a truncated cone column (13) which is provided with an inner hole (131) matching the outer shape of the conical guide portion (23). The conical guide portion (23) is inserted into the inner hole (131).

5. The docking system according to claim 4, characterized in that: The inner hole (131) is provided with a buffer member (134), and the buffer member (134) comprises a second elastic member (132) and a baffle (133), and one end of the second elastic member (132) is connected to the inner wall of the inner hole (131), and the other end is connected to the baffle (133).

6. The docking system according to claim 4, characterized in that: A third elastic member (135) is provided at intervals on the side wall of the inner hole (131), and when the tapered guide portion (23) is inserted into the inner hole (131), it abuts against the outer side of the third elastic member (135).

7. The docking system according to claim 1, 2, 5 or 6, characterized in that: The ball head assembly (2) also includes an elastic ring (24), which is nested on the outside of the rotating part (22), and a groove (241) is provided on the outer surface of the elastic ring (24).

8. The docking system according to claim 7, characterized in that: A first limiting plate (225) is provided on the outer surface of the rotating portion (22), a second limiting plate (214) is provided on the outer surface of the ball head portion (21), and the elastic ring (24) is arranged between the first limiting plate (225) and the second limiting plate (214).

9. The docking system according to claim 1, 2, 5, 6 or 8, characterized in that: The rotating part (22) further comprises a rotating U-shaped frame (221), a pin shaft (222) and a fourth elastic member (223); the pin shaft (222) is installed in the U-shaped frame (221); the ball head (21) is hingedly installed on the pin shaft (222); the fourth elastic member (223) is sleeved on the outside of the pin shaft (222) and is located between the inner wall of the U-shaped frame (221) and the hinge of the ball head (21).

10. A rail-hanging robot assembly, comprising the docking system described in any one of claims 1 to 9, and also comprising a rail-hanging inspection robot (4) and a rail-hanging rescue robot (5), wherein the claw assembly (1) is installed on the rail-hanging rescue robot (5) or on the rail-hanging inspection robot (4), and correspondingly, the ball head assembly (2) is installed on the rail-hanging inspection robot (4) or on the rail-hanging rescue robot (5).

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