Rail holding locking mechanism for rail hanging robot and rail hanging robot

Abstract

The utility model provides a rail holding locking mechanism for a rail hanging robot and the rail hanging robot. The rail-hanging robot can advance along a walking guide rail, a charging base station is arranged along the walking guide rail, and the rail-holding locking mechanism comprises a driving mechanism which comprises a ball screw, a driving motor and a horizontal sliding table driven by the ball screw; the connecting rod mechanism is fixedly connected with the horizontal sliding table of the driving mechanism; the clamping and centering mechanism comprises a positioning block fixed to the top end of the connecting rod mechanism and a positioning groove fixed to the bottom side of a parking fixing beam of the charging base station, and when the horizontal sliding table is driven to move towards the center of the rail clamping and locking mechanism, the driving mechanism drives the top end of the connecting rod mechanism to move towards the center of the rail clamping and locking mechanism; and the positioning block of the clamping and centering mechanism tightly holds the positioning groove to form locking.

Description

Technical Field

[0001] The utility model relates to the field of rail-hanging robots, in particular to a rail-holding locking mechanism of a rail-hanging robot. Background Art

[0002] In recent years, with the continuous advancement of intelligent and automated technologies, rail-mounted robots have gradually gained widespread application in industrial production, logistics, and other fields. These robots operate on a set track by hanging on a rail, enabling efficient material handling and operations. However, in practical applications, the rail-mounted locking mechanism of rail-mounted robots presents some urgent issues that need to be addressed.

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

[0004] To address the problems and shortcomings of existing technologies, some researchers and companies have attempted to improve the performance of rail-mounted robots by refining their structural design. For example, Chinese utility model patent publication number CN221496135U describes a rail-mounted robot that attempts to address the rail-mounted operation problem through a sliding wheel set and a suspension drive mechanism. However, this solution does not completely address the rail-mounted robot's locking issues in complex scenarios. In the event of low positioning accuracy or installation errors, there will be positional deviations between the rail-mounted docking structure and the docking structure of the robot itself, resulting in a loose locking mechanism.

[0005] Therefore, existing rail-holding locking mechanisms for rail-mounted robots suffer from low reliability and poor adaptability, making them difficult to meet the demands of increasingly complex applications. In particular, existing technologies still struggle to provide satisfactory solutions for scenarios requiring high safety and stability. Therefore, there is an urgent need for a new rail-holding locking mechanism for rail-mounted robots that can effectively improve locking reliability and enhance adaptability to better address a variety of complex application scenarios. Utility Model Content

[0006] In order to overcome the above-mentioned problems of the existing rail-holding locking mechanism of the rail-hanging robot, the utility model aims to provide a rail-holding locking mechanism, a locking docking mechanism and a rail-hanging robot for the rail-hanging robot that can effectively improve the locking reliability and have strong adaptability.

[0007] The first aspect of the utility model provides a rail-holding locking mechanism for a rail-hanging robot, which is capable of moving along a walking guide rail, and a charging base station is arranged along the walking guide rail, wherein the rail-holding locking mechanism includes: a driving mechanism assembled on the top of the rail-hanging robot, which includes a ball screw, a driving motor for driving the ball screw and a horizontal slide driven by the ball screw; a connecting rod mechanism fixedly connected to the horizontal slide of the driving mechanism, which has a left-right symmetrical structure; and a clamping and centering mechanism respectively fixed on the end of the connecting rod mechanism and the parking fixed beam of the charging base station, wherein the clamping and centering mechanism includes a positioning block fixed to the top of the connecting rod mechanism and a positioning groove fixed to the bottom side of the parking fixed beam at the top of the charging base station, which has a shape matching the relative part of the positioning block, and when the horizontal slide is driven to move toward the center of the rail-holding locking mechanism, the driving mechanism drives the top of the connecting rod mechanism to move toward the center, so that the positioning block and the positioning groove of the clamping and centering mechanism are close to the clamping positioning groove to form a lock.

[0008] Preferably, the rail holding locking mechanism according to the present invention also includes a sliding rising mechanism installed at the center of the connecting rod mechanism and hinged to the connecting rod mechanism. When the horizontal slide of the driving mechanism is driven to move toward the center of the rail holding locking and drives the connecting rod mechanism to move toward the center of the mechanism, the sliding rising mechanism moves vertically upward.

[0009] Preferably, the rail-holding locking mechanism according to the present invention further includes a base arranged at the bottom and side plates clamped at the front and rear sides of the connecting rod mechanism and the sliding and rising mechanism.

[0010] Preferably, in the rail-holding locking mechanism according to the present invention, the driving mechanism further comprises a horizontal guide rail fixedly connected to the base, wherein the horizontal slide slides horizontally along the horizontal guide rail under the drive of the driving motor.

[0011] Preferably, the rail-holding locking mechanism according to the present invention further includes a bearing seat (105) fixedly connected to the base; and two pairs of position sensors respectively fixedly connected to the side plates arranged on the bearing seat and the front and rear sides of the sliding and rising mechanism. The driving mechanism further includes a sensor sensing plate arranged between each pair of position sensors and fixedly connected to the horizontal slide, wherein the sensor sensing plate has protrusions extending outward perpendicularly to the plate surface at both ends, so that the position sensor can obtain limit information.

[0012] Preferably, in the rail-holding locking mechanism according to the present invention, the connecting rod mechanism includes two groups of symmetrical five-bar mechanisms, and each group of five-bar mechanisms includes: a driving link, two groups of parallel links, a centering rod and a rising link.

[0013] Preferably, in the rail locking mechanism according to the present invention, the connecting rod mechanism also includes a connecting rod base fixedly connected to the horizontal slide, the driving rod is connected to the horizontal slide through the connecting rod base, the lower group of parallel links in the two groups of parallel links is hinged to the driving link, and the hinge point is located in the middle of the lower parallel link, the upper upper parallel link in the two groups of parallel links is hinged to the rising link, and the hinge point is located in the middle of the upper parallel link, the upper ends of the upper and lower parallel links are hinged to the centering link, and the lower ends of the upper and lower parallel links are hinged to the side plates, one end of the centering link is hinged to the upper ends of the two groups of parallel links, and the other end of the centering rod is equipped with a positioning block, and when the horizontal slide drives the connecting rod base to move toward the center of the mechanism, the upper ends of the upper and lower parallel links are driven by the driving link to move toward the center of the mechanism, so that the centering link moves vertically upward and translates toward the center of the mechanism.

[0014] Preferably, in the rail-holding locking mechanism according to the present invention, the sliding and rising mechanism includes: a rising slide fixedly connected to the side plate; a rising guide rail capable of vertically sliding along the rising slide; a rising sliding base fixedly connected to the rising guide rail; a pin base plate assembled on the top of the rising sliding base; a spring pin vertically and telescopically mounted on the pin base plate; and a rising rod connecting piece hinged to the rising connecting rod, wherein the left and right sides of the rising sliding base are fixedly connected to the rising rod connecting piece, 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, which can drive the rising connecting rod to move vertically upward along the rising slide as the horizontal slide moves toward the center of the rail-holding locking mechanism.

[0015] Preferably, in the rail-holding locking mechanism according to the present invention, the clamping and centering mechanism further comprises: a positioning clamping block and an adapter plate fixed to the bottom of the parking fixed beam on the top of the charging base station; and

[0016] A clamping box adapter plate is fixed to the side of the parking fixed beam, wherein the positioning grooves are fixed to both sides of the positioning clamping block, and the clamping box adapter plate is fixedly connected to the parking fixed beam at the top of the charging base station through the adapter plate.

[0017] A second aspect of the present invention provides a rail-holding and locking type rail-hanging robot, which can travel along a walking guide rail. The body of the rail-hanging robot is equipped with a rail-holding and locking mechanism according to the first aspect of the present invention.

[0018] In summary, the beneficial effects of the present invention are at least in the following aspects:

[0019] 1. The rail-holding locking mechanism for the rail-hanging robot provided by the utility model has a simple structure and is easy to maintain; the transmission chain is composed of a ball screw and a connecting rod mechanism, has a large holding force and a good locking effect.

[0020] 2. The utility model provides a rail-holding locking mechanism for a rail-mounted robot. In its structure, the connecting rod mechanism has both clamping and rising movement modes, which can simultaneously complete the functions of clamping and centering, power supply and signal transmission; and the connecting rod mechanism is symmetrical on the left and right, so that when the robot positioning has deviations, the symmetry can be used to automatically correct the position deviation.

[0021] 3. The rail-holding locking mechanism for the rail-hanging robot provided by the utility model can form a stable structure between the rail-hanging robot, the vertical parking fixed beam, and the transverse rail, thereby avoiding vertical shaking and deformation caused by the pushing mechanism pushing the host when docking with the charging base station, and offsetting the vertical outward thrust generated during docking. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] 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.

[0023] Figure 1 A schematic structural diagram of a rail-holding locking mechanism for a rail-hanging robot according to the present invention is shown;

[0024] Figure 2 A schematic diagram showing the docking of a rail-holding locking mechanism for a rail-hanging robot and a parking fixed beam according to the present invention is shown.

[0025] Description of Reference Numerals

[0026] 1: Driving mechanism; 101: Sensor plate; 102: Horizontal slide; 103: Horizontal guide rail; 104: Ball screw; 105: Bearing seat; 106: Coupling; 2: Connecting rod mechanism; 201: Centering link; 202: Rising link; 203: Upper parallel link; 204: Lower parallel link; 205: Driving link; 206: Link base; 207: Ball bearing and transmission shaft; 3: Sliding upper Lifting mechanism; 301: spring pin; 302: lifting rod connector; 303: pin base; 304: lifting sliding base; 305: lifting guide rail; 306: lifting slide; 4: clamping and centering mechanism; 401: positioning block; 402: positioning slot; 403: positioning clamping block; 404: clamping box adapter plate; 405: adapter plate; 5: position sensor; 6: base; 7: side plate; 8: parking fixed beam. DETAILED DESCRIPTION

[0027] 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.

[0028] The following reference Figure 1 and Figure 2 The structure of the rail-hanging robot and the rail-holding locking mechanism for the rail-hanging robot of the present invention is described. The rail-hanging robot of the present invention is capable of traveling along a travel guide rail, along which a charging base station is arranged. The rail-hanging robot includes a main body and a rail-holding locking mechanism assembled on the main body.

[0029] [Structure of the rail locking mechanism]

[0030] Specifically, the rail-holding locking mechanism according to the present invention includes: a driving mechanism 1 that outputs a driving force, a connecting rod mechanism 2 driven by the driving mechanism 1, and a clamping and centering mechanism 4. When the driving mechanism 1 drives the connecting rod mechanism 2 so that the top end of the connecting rod mechanism 2 moves toward the center of the driving mechanism 1, the connecting rod mechanism 2 drives the clamping and centering mechanism 4 to lock the parking fixed beam 8 of the charging base station. Among them, the clamping and centering mechanism 4 includes a positioning block 401 fixed to the top end of the connecting rod mechanism and a positioning groove 402 fixed to the bottom side of the parking fixed beam of the charging base station, and the relative portion of the positioning groove 402 and the positioning block and the relative portion of the positioning block 401 and the positioning groove 402 have shapes that match each other. As a preferred embodiment, the relative portion of the positioning block 401 and the positioning groove 402 is a protruding V-shaped structure, and the relative portion of the positioning groove 402 and the positioning block is a recessed V-shaped structure. Obviously, the present invention is not limited to this. The relative positions of the positioning block 401 and the positioning groove 402 may also be U-shaped, sawtooth-shaped, or other shapes that can engage with each other (the positioning block 401 tightly embraces the positioning groove 402) to form a locking structure. In addition, the axis of the parking fixed beam 8 of the charging base station is perpendicular to the motion trajectory of the linkage mechanism.

[0031] In addition, as a preferred embodiment, the rail-holding locking mechanism may also include a sliding and rising mechanism 3, which is installed at the center of the connecting rod mechanism 2 and is hinged to the connecting rod mechanism 2. When the driving mechanism 1 drives the connecting rod mechanism 2 and moves the top end of the connecting rod mechanism 2 toward the center of the driving mechanism 1, the connecting rod mechanism 2 drives the sliding and rising mechanism 3 to move vertically upward, so that the sliding and rising mechanism 3 contacts the communication and power supply components on the charging base station side assembled under the parking fixed beam 8, so as to enable power supply and information transmission.

[0032] In addition, as a preferred embodiment, the rail locking mechanism may further include: a base 6 arranged at the bottom of the mechanism, a bearing seat 105 fixedly connected to the base 6, side plates 7 clamped on the inner and outer sides (front and rear sides) of the connecting rod mechanism 2 and the sliding and rising mechanism, and two pairs of position sensors 5 respectively arranged on the bearing seat 105 and on the side plates 7 on the front and rear sides of the sliding and rising mechanism. Figure 2 As shown, the front-rear direction (inside-outside direction) refers to the direction along the axis of the parking fixed beam 8 .

[0033] The specific structures of the driving mechanism 1 , the connecting rod mechanism 2 , the sliding and rising mechanism 3 , and the clamping and centering mechanism 4 are described in detail below.

[0034] [Structure of the driving mechanism 1]

[0035] The drive mechanism 1 includes a drive motor, a ball screw 104 driven by the drive motor, and a horizontal slide 102 driven by the ball screw, wherein the horizontal slide 102 is fixedly connected to the connecting rod mechanism 2. Preferably, the drive mechanism 1 also includes a horizontal guide rail 103 fixedly connected to the base 6, and the horizontal slide 102 can move along the horizontal guide rail 103 under the drive of the drive motor.

[0036] As a preferred embodiment, the driving motor adopts a stepper motor, and the driving mechanism 1 includes two groups of symmetrical stepper motors and ball screws 104 arranged on both sides of the driving mechanism 1. In addition, the driving mechanism 1 may also include: two pairs of position sensors 5 arranged on the bearing seat 105 and at the bottom of the side plates 7 on the front and rear sides of the sliding lifting mechanism; and a sensor sensing plate 101 arranged between each pair of position sensors 5 and fixedly connected to the horizontal slide 102. The cross-section of the sensor sensing plate 101 is U-shaped, with protrusions extending outward perpendicularly to the main plate surface at the left and right ends. In the assembled state, the main plate surface of the sensor sensing plate is assembled on the side of the horizontal slide in a state perpendicular to the base, so that the position sensor 5 can obtain the current limit information and feed it back to the control system (or server) for controlling the rail holding locking mechanism to end the clamping or end the release. The limit information indicates that the rail holding locking mechanism has formed a clamping state or a release state. For example, during the execution of the clamping action, if the position sensor fixed to the side plate 7 detects the protrusion of the sensor sensing plate 101 close to the center side of the mechanism, it sends limit information indicating that the clamping state has been formed to the control system to control the drive motor to stop the locking action; and during the execution of the release action, if the position sensor fixed to the bearing seat 105 detects the protrusion of the sensor sensing plate 101 located on the outside of the mechanism (left and right ends), it sends limit information indicating that the clamping state has been released to the control system to control the drive motor to stop the release action.

[0037] exist Figure 1 and Figure 2In the illustrated embodiment, the horizontal guide rail 103 of the drive mechanism 1 is connected to the base 6 by bolts, and the sensor plate 101 is fixedly connected to the horizontal slide 102 by bolts. However, the present invention is not limited to this embodiment, and other fixed connection methods such as riveting, bonding, keying, and snap-fit ​​connection may also be used between the above components.

[0038] In the working state, the horizontal slide 102 is driven by the screw 104 and moves left and right along the horizontal guide rail 103. Since the sensor sensing plate 101 is fixedly connected to the horizontal slide 102, the sensor sensing plate 101 moves synchronously. The protrusions on the left and right sides of the sensor sensing plate 101 block the signal of the sensor 5, thereby obtaining the position information.

[0039] In addition, the driving mechanism 1 can also include a coupling 106 and a bearing seat 105, wherein the power of the driving mechanism 1 is transmitted to the screw 104 and the horizontal slide 102 by the coupling 106 connected to the stepper motor, and the screw 104 is connected to the base 6 through the bearing seat 105.

[0040] [Structure of Link Mechanism 2]

[0041] The linkage mechanism 2 includes two symmetrical five-link mechanisms, each of which includes: a driving link 205 , two groups of parallel links (a lower group of upper parallel links 203 and a lower group of lower parallel links 204 ), a centering link 201 and a lifting link 202 . Among them, the lower parallel link 204 is hinged to the driving link 205, and the hinge point is located in the middle of the lower parallel link 204; the rising link 202 is hinged to the upper parallel link 203, and the hinge point is located in the middle of the upper parallel link 203; the upper ends of the upper parallel link 203 and the lower parallel link 204 are hinged to the centering link 201; the lower ends of the upper parallel link 203 and the lower parallel link 204 are fixedly connected to the side plate 7; the end of the centering link 201 that is not hinged to the upper ends of the upper and lower parallel links is assembled (fixedly connected) with a positioning block 401 for clamping the centering mechanism 4; the other end of the rising link 202 (the end that is not hinged to the upper parallel link 203) is hinged to the rising slide 306.

[0042] In the present disclosure, the hinged connection between the components of the connecting rod mechanism 2 adopts a hinged connection method in which rolling bearings cooperate with the transmission shaft. As a preferred solution, the components are hinged to the transmission shaft 207 through ball bearings.

[0043] Furthermore, the linkage mechanism 2 includes a linkage base 206, which is fixedly connected to the horizontal slide 102 and preferably articulated to the drive link 205 via a ball bearing and a transmission shaft 207. In a preferred embodiment, both the lower parallel link 204 and the upper parallel link 203 are composed of two identical links. The rise link 202 is articulated to the rise link connector 302 in the sliding rise mechanism 3 via a ball bearing and the transmission shaft 207.

[0044] During the locking (clamping) operation, the horizontal slide 102 drives the link base 206 toward the center of the rail-holding locking mechanism. The upper and lower parallel links 203 and 204, driven by the drive link 205, move their upper ends toward the center of the rail-holding locking mechanism, simultaneously causing the centering link 201 to move vertically upward and translate toward the center of the mechanism. The end of the rising link 202, constrained by the rising link connector 302, is able to generate vertical upward movement.

[0045] When releasing the lock (releasing), the horizontal slide 102 drives the link base 206 from the center of the rail-holding locking mechanism toward the left and right ends of the mechanism. The upper and lower parallel links 203 and 204 are driven by the driving link 205, causing the upper ends of the upper and lower parallel links 203 and 204 to move toward the left and right ends of the rail-holding locking mechanism. At the same time, the centering link 201 moves vertically downward and translates toward the left and right ends of the rail-holding locking mechanism. The end of the rising link 202 is restricted by the rising rod connector 302, allowing it to move vertically downward.

[0046] [Structure of Sliding and Lifting Mechanism 3]

[0047] like Figure 1 As shown, the sliding and ascending mechanism 3 comprises an ascending platform 306, an ascending guide rail 305, an ascending sliding base 304, a pin base 303, an ascending rod connector 302, and a spring pin 301. The ascending platform 306 is fixedly connected to the side panel 7, while the ascending guide rail 305 is fixedly connected to the ascending sliding base 304 and can slide vertically along the ascending platform 306. The pin base 303 is mounted on top of the ascending sliding base 304, on which the spring pin 301 is vertically and retractably mounted. The spring pin 301 is connected to the power supply and communication circuits in the rail-mounted robot body to facilitate signal transmission and power supply.

[0048] As a preferred method, Figure 1 and Figure 2 In the embodiment shown, the number of spring pins 301 is four. Obviously, the number of spring pins 301 is not limited thereto. Depending on the structure of the power supply and communication lines in the rail-hanging robot body, the number of spring pins 301 can also be six, eight, or other numbers.

[0049] Furthermore, the left and right sides of the ascending sliding base 304 are hingedly connected to the ascending link 202 via fixed ascending rod connectors 302, and preferably, articulated via ball bearings and drive shaft 207. Furthermore, the ascending link 202 of the linkage 2 and the ascending rod connectors 302 in the ascending sliding mechanism 3 are hingedly connected to the drive shaft 207, for example, via ball bearings. Furthermore, the ascending slide 306 can be preferably fixed to the side panel 7.

[0050] As a preferred solution, Figure 1 As shown, the rising rod connector 302, the pin base plate 303, the rising sliding base 304, and the rising guide rail 305 in the sliding rising mechanism 3 can be connected into a whole by bolts, for example, so that as the horizontal slide 102 moves toward the center of the rail locking mechanism, the rising connecting rod 202 is driven, so that the above-mentioned overall structure moves vertically upward along the rising slide 306, and as the horizontal slide 102 moves from the center of the rail locking mechanism to the outside (towards the left and right ends), the rising connecting rod 202 is driven, so that the above-mentioned overall structure moves vertically downward along the rising slide 306.

[0051] [Structure of the clamping and centering mechanism 4]

[0052] The clamping and centering mechanism 4 includes: two sets of symmetrical positioning blocks 401 and positioning grooves 402, positioning clamping blocks 403, clamping box adapter plates 404, and adapter plates 405. Among them, the positioning clamping blocks 403 and adapter plates 405 are fixed to the bottom of the parking fixed beam (8), while the clamping box adapter plates 404 are fixed to the side of the parking fixed beam, the positioning groove 402 is fixed to the bottom of the positioning clamping blocks 403 and the clamping box adapter plates 404, and the clamping box adapter plates 404 are fixed to the parking fixed beam 8 at the top of the charging base station through the adapter plates 405. The positioning blocks 401 and the positioning grooves 402 are complementary in shape and cooperate with each other to engage with each other (the positioning blocks 401 hold the positioning grooves 402 tightly) to form a lock.

[0053] Among them, the power supply and communication module on the base station side is assembled in the positioning clamping block 403, which is plugged into the spring pin 301 of the sliding lifting mechanism 3. After the sliding lifting mechanism 3 moves upward and the spring pin 301 contacts the power supply and communication module on the base station side, the spring pin 301 can be plugged into the power supply and communication module on the base station side to realize power supply and communication between the rail-hanging robot of the present invention and the charging base station.

[0054] As a preferred solution, Figure 1 and Figure 2As shown, the adapter plate 405 is L-shaped, but the present invention is not limited thereto. Depending on the width of the parking beam 8 and / or the dimensions of the positioning clamping block 403 and the clamping box adapter plate 404, the adapter plate 405 may also have other shapes, such as a column, a Z-shape, or a U-shape. Furthermore, the mounting position of the adapter plate 405 can be adjusted along the parking beam 8.

[0055] Furthermore, in the clamping and centering mechanism 4, the positioning groove 402 that interfaces with the positioning block 401 and its fixed mounting components (positioning clamping block 403, clamping box adapter plate 404, and adapter plate 405) constitute the locking docking mechanism of the rail hanging mechanism of the present invention. Specifically, the locking docking mechanism includes the positioning groove 402, the positioning clamping block 403, the clamping box adapter plate 404, and the adapter plate 405.

[0056] When performing the clamping action, the horizontal slide 102 drives the connecting rod base 206 to move toward the center of the rail-holding locking mechanism. The positioning block 401 is driven by the centering rod 201 to approach the positioning groove 402 and contact it. Under the pressure applied by the centering rod 201 toward the center of the mechanism, the positioning block 401 and the positioning groove 402 cooperate with each other and engage with each other, and form a fixed structure through friction (the positioning block 401 clamps the positioning groove 402) to achieve the locking of the rail-holding robot relative to the charging base station.

[0057] On the other hand, when performing the unlocking (liberation) action, the horizontal slide 102 drives the connecting rod base 206 to move toward the outside (left and right ends) of the rail-holding locking mechanism, and the positioning block 401 is driven by the centering rod 201 to release the engagement with the positioning groove 402 (release the positioning groove 402), and the positioning block 401 is separated from the positioning groove 402, and the positioning block 401 moves toward the outside of the mechanism, thereby releasing the lock of the rail-holding robot relative to the charging base station.

[0058] To sum up, the rail-holding locking mechanism and locking docking device of the utility model can drive the connecting rod mechanism 2 to drive the clamping and centering mechanism 4 under the drive of the driving mechanism, so that it can form a fixed structure to hold and lock it in the target position of the parking fixed beam 8, and at the same time make the sliding and rising mechanism 3 move in the vertical direction and realize power supply and communication after docking with the charging base station.

[0059] The rail-holding locking mechanism, locking docking mechanism and rail-holding robot of the present invention have the following advantages: simple structure and easy maintenance; the transmission chain is composed of a ball screw and a connecting rod mechanism, with large holding force and good locking effect; it has both clamping and rising movement modes, and can simultaneously complete the functions of holding and centering, power supply and signal transmission; the connecting rod mechanism is symmetrical on the left and right, and if the robot positioning has deviations, the symmetry can be used to realize automatic correction of the position deviation; the utility model forms a stable structure of the robot and the vertical parking fixed beam and the horizontal track, avoiding vertical shaking and deformation caused by the pushing mechanism when pushing the host and the base station for docking, and offsetting the vertical outward thrust generated during docking.

[0060] 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 rail-holding locking mechanism for a rail-mounted robot, wherein the rail-mounted robot is capable of traveling along a travel guide rail, and a charging base station is arranged along the travel guide rail, wherein: The rail-holding locking mechanism comprises: A driving mechanism (1) mounted on the top of the rail-hanging robot comprises a ball screw (104), a driving motor for driving the ball screw, and a horizontal slide (102) driven by the ball screw; A connecting rod mechanism (2) fixedly connected to the horizontal slide of the driving mechanism, which has a bilaterally symmetrical structure; and A clamping and centering mechanism (4) is respectively fixed to the end of the connecting rod mechanism and the parking fixed beam of the charging base station, The clamping and centering mechanism (4) includes a positioning block (401) fixed to the top of the connecting rod mechanism and a positioning groove (402) fixed to the bottom side of the parking fixed beam at the top of the charging base station and having a shape matching the relative position of the positioning block, and When the horizontal slide is driven to move toward the center of the rail locking mechanism, the driving mechanism drives the top end of the connecting rod mechanism to move toward the center, so that the positioning block and the positioning groove of the clamping and centering mechanism are close to the clamping positioning groove to form a lock.

2. The rail locking mechanism according to claim 1, characterized in that: The rail locking mechanism further comprises a sliding ascending mechanism (3) which is installed at the center of the connecting rod mechanism and is hinged to the connecting rod mechanism. When the horizontal slide of the driving mechanism moves toward the center of the rail locking mechanism and drives the connecting rod mechanism to move toward the center of the mechanism, the sliding ascending mechanism moves vertically upward.

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

4. The rail locking mechanism according to claim 3, characterized in that: The driving mechanism further comprises a horizontal guide rail (103) fixedly connected to the base, wherein the horizontal slide table slides horizontally along the horizontal guide rail under the drive of the driving motor.

5. The rail-holding locking mechanism according to claim 3, characterized in that: The rail-holding locking mechanism further comprises a bearing seat (105) fixedly connected to the base; and two pairs of position sensors (5) respectively fixedly connected to the bearing seat and the bottoms of the side plates at the front and rear sides of the sliding lifting mechanism. The driving mechanism further includes a sensor induction plate (101) arranged between each pair of position sensors and fixedly connected to the horizontal slide. The sensor plate has protrusions at both ends thereof, which extend outward perpendicularly to the plate surface, so that the position sensor can obtain limit information.

6. The rail-holding locking mechanism according to claim 3, characterized in that: The connecting rod mechanism comprises two groups of symmetrical five-link mechanisms, and each group of five-link mechanisms comprises: a driving connecting rod (205), two groups of parallel connecting rods (203, 204), a centering rod (201) and a rising connecting rod (202).

7. The rail-holding locking mechanism according to claim 6, characterized in that: The connecting rod mechanism also includes a connecting rod base (206) fixedly connected to the horizontal slide, and the driving rod is connected to the horizontal slide through the connecting rod base. The lower parallel link (204) of the two parallel links is hinged to the driving link, and the hinge point is located in the middle of the lower parallel link. The upper parallel link (203) of the two parallel links is hinged to the rising link, and the hinge point is located in the middle of the upper parallel link. The upper ends of the upper and lower parallel links are hinged to the centering link, and the lower ends of the upper and lower parallel links are hinged to the side plates. One end of the centering link is hinged to the upper ends of the two parallel links, and the other end of the centering link is equipped with a positioning block. Moreover, when the horizontal slide drives the connecting rod base to move toward the center of the mechanism, the upper ends of the upper parallel connecting rod and the lower parallel connecting rod are driven by the driving connecting rod to move toward the center of the mechanism, so that the centering connecting rod moves vertically upward and translates toward the center of the mechanism.

8. The rail-holding locking mechanism according to claim 6, characterized in that: The sliding lifting mechanism comprises: An ascending slide (306) fixedly connected to the side plate; An ascending guide rail (305) capable of vertically sliding along the ascending slide; An ascending sliding base (304) fixedly connected to the ascending guide rail; A pin base plate (303) assembled on the top of the rising sliding base; A spring pin (301) vertically and telescopically mounted on the pin base; and a rising rod connecting member (302) hinged to the rising link, Among them, the left and right sides of the rising sliding base are fixedly connected to the rising rod connecting piece, 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, which can drive the rising connecting rod as the horizontal slide moves toward the center of the rail locking mechanism to make the above-mentioned integral structure move vertically upward along the rising slide.

9. The rail-holding locking mechanism according to claim 1 or 2, characterized in that: The clamping and centering mechanism further comprises: A positioning clamping block (403) and an adapter plate (405) fixed to the bottom of a parking fixed beam (8) on the top of the charging base station; and A clamping box adapter plate (404) fixed to the side of the parking fixed beam, Among them, the positioning grooves are fixed on both sides of the positioning clamping block. The clamping box adapter plate is fixedly connected to the parking fixed beam on the top of the charging base station through the adapter plate.

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

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