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

Abstract

The utility model 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 spring contact pin is vertically arranged in the center of the top of the sliding lifting mechanism; 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 utility model relates to the field of charging equipment for intelligent robots, in particular to an energy charging mechanism for a rail-hanging robot and a rail-hanging robot with the energy charging mechanism. Background Art

[0002] New energy vehicles have experienced rapid development in recent years. By the end of 2023, China's new energy vehicle ownership will rank first globally. With the increasing popularity of new energy vehicles, the development of charging infrastructure has become a key component in promoting green transportation in my country. However, due to limited domestic parking resources, the demand for charging new energy vehicles still primarily relies on the large-scale deployment of public charging stations. The existing fixed charging station model and parking space situation present numerous challenges to the charging process for new energy vehicles, such as a shortage of dedicated charging spaces, spaces occupied by fuel vehicles, overtime charging and queuing. These issues limit the utilization of individual charging stations, resulting in reduced parking turnover, which in turn impacts operational efficiency and profitability.

[0003] Currently, some rail-mounted charging robots are attempting to improve the charging process by optimizing the layout and operation of charging stations. Existing rail-mounted mobile robot systems typically consist of a track, a mobile robot, a charging host, and a charging base station. To flexibly charge new energy vehicles, the mobile robot must carry the charging host to dock at a charging base station located in each parking space, and then charge the new energy vehicle. Therefore, the mobile unit of a rail-mounted charging robot must have sufficient power to complete its movement and handling tasks. Since most mobile robots use lithium batteries as their power source, they require a direct current connection for charging. However, current rail-mounted robots often need to be moved to a designated location on the track for recharging. Chinese utility model patent publication number CN208174328U describes a device for a rail-mounted robot to perform contact charging at a designated track location. However, this designated location charging method suffers from inefficiencies. Furthermore, during the charging process, the mobile robot is unable to respond to new new energy vehicle charging requests, resulting in long wait times for vehicle owners and further impacting overall operational efficiency.

[0004] In summary, in the field of rail-mounted charging robots, the existing rail-mounted robot charging mechanism design is still immature and cannot meet the needs of safe and efficient charging of new energy vehicles. To address the above problems, this utility model proposes a new rail-mounted robot charging mechanism, which aims to improve the charging efficiency of the rail-mounted robot, thereby further improving the operating efficiency and user experience of the rail-mounted charging robot in the new energy vehicle charging scenario. Utility Model Content

[0005] In order to overcome the above-mentioned problems of existing rail-mounted charging robot recharging mechanisms, the present invention aims to provide a rail-mounted robot recharging mechanism with a simple structure, high reliability, easy maintenance, and a long service life. The present invention provides a power supply module on the parking fixed beam of each charging base station and a power supply module on the top of the mobile robot's main body rail-holding locking mechanism, enabling the mobile robot to automatically recharge and recharge when its rail-holding locking mechanism tightly grasps the parking fixed beam of any charging base station. This design avoids the disadvantage of the mobile robot having to travel to a designated location on the track to recharge due to insufficient power, greatly improving 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 a preset range, the robot can automatically charge when parked at any charging base station, ensuring 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 lightweighting of the mobile robot and reducing additional risks caused by the battery, such as thermal runaway and other problems. The energy replenishment mechanism of the present invention is simple in structure, easy to implement, highly reliable, and has good scalability and practicality.

[0007] The first aspect of the present utility model provides an energy charging mechanism for a rail-hanging robot, wherein the rail-hanging robot can move along a walking rail in a hanging manner, and a charging base station is arranged along the walking rail, wherein the energy charging mechanism includes: a sliding and rising mechanism assembled on the top of the rail-hanging robot; a spring pin vertically mounted at the top center of the sliding and rising mechanism; and 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 surface 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-hanging 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, wherein 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.

[0009] Preferably, in the energy charging mechanism according to the present invention, the spring pin further includes a signal pin, wherein when the signal pin is connected to the relative conductive block, signal interaction between the mobile robot and the charging base station can be performed.

[0010] Preferably, the energy charging mechanism according to the present invention also includes a positioning and clamping mechanism, which includes: a positioning and 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 and clamping block, wherein the bottom frame of the positioning and clamping block is open in the center, the charging box is fixedly connected to the bottom frame opening of the positioning and 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 and clamping block.

[0011] Preferably, in the energy replenishing mechanism according to the present invention, a connecting rod mechanism having 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, and while the top end of the connecting rod mechanism is driven by the connecting rod mechanism to move toward the central axis of the sliding and ascending mechanism, the sliding and ascending mechanism is driven by the connecting rod mechanism to move vertically upward, and as the sliding and ascending mechanism moves upward, 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.

[0012] 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. The positioning block and the positioning groove are complementary in shape so that they can cooperate with each other through friction when engaged with each other to form a fixed structure.

[0013] Preferably, in the energy charging mechanism according to the present invention, the energy charging mechanism also includes a pin base plate fixed at the top center of the sliding rising mechanism, and a hole is opened on the top surface of the pin base plate. The bottom of the spring pin is inserted into the hole and fixed on the pin base plate, so as to be fixedly connected to the top of the sliding rising mechanism through the pin base plate.

[0014] 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 sliding vertically 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, when the rising connecting rod drives 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.

[0015] Preferably, in the energy charging mechanism according to the present invention, the number of conductive blocks is 4, and they are fixed to the bottom surface of the charging box in a centrally symmetrical manner along the central axis of the charging box, and the number of conductive blocks is the same as the number of spring pins, and the arrangement positions of the conductive blocks correspond one to one with the arrangement positions of the spring pins in the vertical direction.

[0016] A second aspect of the present invention provides a rail-mounted robot capable of traveling along a travel guide rail, wherein the 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 charging 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. This utility model's charging mechanism for rail-mounted robots allows the robot to autonomously recharge according to a charging strategy while parked at any charging station, ensuring a consistently sufficient charge and improving operational efficiency. Furthermore, this design enables rapid response to user needs around the clock, significantly enhancing the user experience.

[0020] 3. In the energy-charging mechanism for the rail-mounted robot of this utility model, when the sliding and ascending mechanism drives the spring-loaded pin to dock with the conductive block on the assembly and charging base station, if the rail-mounted robot's positioning deviates, the robot can automatically correct the positional deviation by leveraging the symmetry of the linkage mechanism. This improves the docking success rate, reduces the energy-charging mechanism's failure rate, and extends its service life.

[0021] 4. In the energy charging mechanism for a rail-mounted robot of the present invention, the sliding and ascending mechanism can drive the spring pin to dock with the conductive block while the positioning and clamping mechanism is locked. This locked state further improves the success rate of docking between the spring pin and the conductive block and ensures stable electrical connectivity. This further increases the docking success rate and extends the service life of the energy charging mechanism.

[0022] 5. The energy charging 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. 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 following briefly introduces the drawings required for use in the embodiments or the description of the prior art. 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 any creative labor.

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

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

[0026] Figure 3 and Figure 4 It is a structural schematic diagram showing the energy charging mechanism for the rail-hanging robot according to the present invention 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 and clamping mechanism; 401: Positioning block; 402: Positioning slot; 403: Positioning and clamping block; 5: Conductive block; 6: Charging box; 7: Connecting rod mechanism; 8: Parking fixed beam. DETAILED DESCRIPTION

[0029] The following is a detailed description of exemplary embodiments of the present invention with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement of components, numerical representations, and numerical values ​​described in these embodiments does not limit the scope of the present invention. For simplicity, identical components or steps are represented by the same reference numerals and their descriptions are omitted.

[0030] The following reference Figures 1 to 4 The structure of the rail-mounted robot and its energy charging mechanism is described below. The rail-mounted robot can travel along a travel rail in a suspended manner. Multiple charging base stations are arranged along the travel rail. The rail-mounted robot includes a main body and an energy charging mechanism mounted on the main 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 utility model includes: a sliding and rising 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 and rising 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 and rising 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 and rising 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 of the energy charging 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 carried out between the mobile robot and the charging base station.

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

[0038] Furthermore, as a preferred embodiment, the spring pin 1 is retractably secured to the pin base. This retractability is achieved by a spring mounted on the top, inside, or bottom of the radial portion. When the spring is compressed and in contact with the conductive block 5, the spring applies 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. Furthermore, the retractability of the spring pin 1 improves the adaptability of the rail-mounting mechanism to the environment when docking with the base station.

[0039] As a preferred 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 use the same number and arrangement, fixed to the bottom of the charging box in a centrosymmetrical manner along the central axis of the charging box. Therefore, when the rail-mounted robot arrives at 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 here can also be adapted to other arrangements depending on the number of spring pins 1 or the configuration of the power supply or information circuits in the rail-mounted mechanism. Accordingly, the conductive blocks 5 are arranged in the same manner as the spring pins 1. As a result, when the sliding mechanism moves vertically upward, the spring pins and the conductive blocks can be aligned vertically, ensuring smooth and accurate electrical connection.

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

[0042] [Structure of 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 has an upward-opening hole, and the bottom of the spring pin 1 is inserted into the hole and fixed to the pin base plate, thereby being fixed to the top of the sliding lifting mechanism through the pin base plate 2. As an alternative, the pin base plate 2 can have a through hole, and the bottom of the spring pin 1 is inserted through the through hole 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 4As shown, the charging box 6 is mounted on 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, the charging box 6 is installed with a power supply circuit and a signal line that can be connected to the charging base station. As a preferred example, the outer shell of the charging box 6 can be made of plastic, but it is obvious that the present invention is not limited to this and other insulating materials can also be used.

[0047] [Structure of Sliding and 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 mounted on top of the ascending sliding base 3, and the ascending rod connector 301, pin base plate 2, ascending sliding base 302, and ascending guide rail 303 are connected to form an integral structure. Preferably, in this embodiment, the above components can be connected to form an integral structure using bolts. Obviously, the present invention is not limited to this, and the fixing method can also adopt one or a combination of methods such as snap fastening and bonding.

[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 and lifting mechanism 3. The link mechanism 7 has a bilaterally symmetrical structure with respect to the axis of the sliding and lifting mechanism 3. When the rising link 301 is driven by the link mechanism 7 to move the entire structure vertically upward along the rising slide 304, the spring pins 1 mounted on the pin base 2 are also driven to move vertically upward to contact the conductive block above.

[0051] To sum up, the energy charging mechanism for the rail-mounted robot of the present invention uses a spring pin as the main component of the power supply module, and a conductive block and a 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] Furthermore, the utility model's charging mechanism for rail-mounted robots allows the robot to autonomously recharge according to a charging strategy while parked at any charging station, ensuring a consistently sufficient charge and improving operational efficiency. Furthermore, this design can rapidly respond to user needs around the clock, significantly enhancing the user experience.

[0053] Moreover, the energy charging mechanism for the rail-mounted robot of the utility model 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 above describes the structure of the energy charging mechanism for a rail-mounted robot according to the first embodiment of the present invention. Compared to the first embodiment, to further improve the reliability and service life of the energy charging mechanism, the energy charging mechanism according to the second embodiment of the present invention also includes a positioning and clamping mechanism 4. When the rail-mounted robot is recharging at the charging base station, the positioning and clamping mechanism 4 can lock the rail-mounted robot and the charging base station. This locking state further improves the success rate of the electrical connection formed by the spring pin 1 and the conductive block 5, and the stability of the continuous electrical connection.

[0056] For the sake of simplicity, the structure of the energy replenishing mechanism of the second embodiment will not be described in detail for the same structural parts as those of the first embodiment, and only the positioning and clamping mechanism 4 which is different 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 and clamping mechanism 4 includes: a positioning and clamping block 403 , which is fixed to the bottom of the parking fixed beam and is in the shape of a rectangular frame; and positioning slots 402 , which are fixedly connected to both sides of the positioning and clamping block 403 .

[0059] In addition, the positioning and clamping mechanism 4 further includes 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 rising 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 and lifting mechanism 3, the sliding and lifting mechanism 3 is driven by the connecting rod mechanism 7 to move vertically upward. As the sliding and lifting mechanism 3 moves upward, 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 holds the positioning groove 402 tightly) to form a lock.

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

[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 and rising 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 in 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. 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 to facilitate contact with the spring pins 1 below. As a preferred embodiment, the charging box 6 is fixed to the positioning clamping block 403 by a fixed connection method of bolts and nuts, but it is clear that the utility model is not limited to this, and other fixing methods, such as snap fasteners, can also be used.

[0065] In summary, in the energy charging mechanism according to the second embodiment of the present invention, the positioning and clamping mechanism performs a clamping operation, allowing the sliding and lifting mechanism to drive the spring pins to dock with the conductive block at the bottom of the parking beam while the rail-mounted robot and the charging base station are locked. This locked state further improves the docking success rate and ensures the stability of a continuous electrical connection. This reduces the failure rate of the energy charging mechanism and extends its service life.

[0066] Although the present invention has been described above with reference to exemplary embodiments, these embodiments are intended only to illustrate the technical concepts and features of the present invention and are not intended to limit the scope of protection of the present invention. Any equivalent variations or modifications based on the spirit of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A charging mechanism for a rail-mounted robot, wherein the rail-mounted robot can travel along a travel guide rail in a suspended manner, and a charging base station is arranged along the travel guide rail, wherein: The energy replenishment mechanism includes: A sliding ascending mechanism (3) mounted on the top of the rail-hanging robot; a spring pin (1) vertically mounted at the top center of the sliding lifting mechanism; and A charging box (6) fixed to the bottom of a parking fixed beam (8) of a charging base station; 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 pin includes a power supply pin, wherein 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 replenished.

3. The energy replenishment mechanism according to claim 2, characterized in that: The spring pin further includes a signal pin, wherein when the signal pin is connected to the relative conductive block, signal interaction between the mobile robot and the charging base station can be performed.

4. The energy replenishment mechanism according to claim 3, characterized in that: The energy replenishing mechanism further includes a positioning and clamping mechanism (4), which includes: 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. 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.

5. The energy replenishment mechanism according to claim 4, characterized in that: A connecting rod mechanism (7) with a left-right symmetrical structure is fixedly connected to both sides of the sliding and ascending 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 and rising mechanism, the sliding and rising mechanism is driven by the connecting rod mechanism to move vertically upward. As the sliding and rising mechanism moves upward, 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.

6. The energy replenishment mechanism according to claim 4, 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 complement each other in shape so that they can cooperate with each other through friction to form a fixed connection structure when engaged with each other.

7. The energy replenishment mechanism according to claim 4, characterized in that: The energy replenishing mechanism further comprises a pin base plate (2) fixed at the top center of the sliding lifting mechanism, a hole is provided on the top surface of the pin base plate, and the bottom of the spring pin is fixed on the pin base plate by inserting the hole, so as to be fixedly connected to the top of the sliding lifting mechanism through the pin base plate.

8. The energy replenishment mechanism according to claim 7, characterized in that: The sliding rising mechanism includes: An ascending 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. When the rising connecting rod drives 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 that it can contact the conductive block above.

9. The energy replenishing mechanism according to claim 4, 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. The number of the conductive blocks is the same as the number of the spring pins, and the arrangement positions of the conductive blocks correspond one to one with the arrangement positions of the spring pins in the vertical direction.

10. A rail-mounted robot capable of traveling along a guide 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.

Images