Docking system and rail hanging robot assembly

Abstract

The utility model 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 utility model further discloses a rail hanging robot assembly.

Description

Technical Field

[0001] This utility model belongs to the field of robot technology, specifically relating to a docking system and a rail-mounted robot assembly. Background Technology

[0002] A rail-mounted robot is a type of robot capable of performing inspection tasks in harsh and special environments. It possesses multiple functions and is designed to replace manual labor in various inspection tasks, improving operational efficiency. The rail system of the rail-mounted robot is designed and installed according to the actual conditions of the project site, typically positioned high in the air. The robot travels along the track, achieving comprehensive coverage of the objects to be inspected on the project site, making full use of site space, and enhancing safety and space utilization.

[0003] When a rail-mounted inspection robot malfunctions, a dedicated rail-mounted rescue robot is used to drag it to a designated location for repair via a docking system. Due to site limitations, the rail system inevitably includes curved, uphill, and downhill sections. Current docking systems, such as those with hinged gripper mechanisms (e.g., application publication number CN111946942A, titled "Rescue System for Pipeline Robot Operations"), are prone to opening during movement due to external vibrations, causing the conical head to detach and the docking system to fail. Similarly, in authorization publication number CN219601249U, titled "A Robot Traction and Docking System," the connection structure switches between curved and straight sections, and uphill and downhill sections, but the components of the traction and docking system are rigidly connected. In these sections, the rail-mounted inspection robot cannot move flexibly with the rail-mounted rescue robot. Utility Model Content

[0004] The purpose of this invention is to provide a docking system in which the components of the docking system can be prevented from separating due to external forces after docking, and the docking system can rotate flexibly to cooperate with the movement of the rail-mounted robot assembly according to the road section.

[0005] The purpose of this utility model is achieved through the following technical solution: a docking system, comprising:

[0006] The chuck assembly includes a chuck base and several chucks, with the chucks hinged to the chuck base at intervals along the circumference of the chuck base;

[0007] The ball head assembly has a ball head and a rotating part. The ball head is inserted into the engagement space formed between the inner walls of the claws, and the ball head is hinged to the rotating part.

[0008] The adjustment assembly includes a ring plate and several first elastic elements. The ring plate is sleeved on the outside of the chuck, and the first elastic elements are spaced apart between the ring plate and the chuck seat. The adjustment assembly adjusts the radial dimension of the engagement space and clamps or releases the ball head.

[0009] Preferably, the claw seat is provided with an elastic post, and the first elastic element is at least partially disposed in the elastic post. One end of the first elastic element is connected to the inner wall of the elastic post, and the other end abuts 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 inward concave arc that matches the shape of the ball head.

[0011] Preferably, the ball head assembly further includes a tapered guide portion disposed at the front end of the ball head, and the claw assembly is provided with a frustum column, the frustum column having an inner hole that matches the shape of the tapered guide portion, the tapered guide portion being inserted into the inner hole.

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

[0013] Preferably, the inner hole has a third elastic element spaced apart on its sidewall, and the tapered guide portion abuts against the outer side of the third elastic element when inserted into the inner hole.

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

[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 an elastic ring is disposed between the first limiting plate and the second limiting plate.

[0016] Preferably, the rotating part further includes a U-shaped frame, a pin, and a fourth elastic element. The pin is installed in the U-shaped frame, the ball head is hinged to the pin, and the fourth elastic element is sleeved on the outside of the pin and located between the inner wall of the U-shaped frame and the ball head hinge.

[0017] Due to the adoption of the above technical solution, this utility model has the following advantages: An adjustment component is provided on the outside of the gripper claw. When the ball head is inserted into the gripper claw, the adjustment component secures the ball head in the gripper claw, preventing it from falling out due to external vibrations. The ball head is hinged to the rotating part, allowing the ball head to rotate around the rotating part at a certain angle according to the actual scenario, enabling flexible passage through curved, uphill, or downhill sections.

[0018] Another objective of this invention is to provide a rail-mounted robot assembly that, through a docking system, allows a rail-mounted rescue robot to stably and flexibly move a rail-mounted inspection robot to a designated location.

[0019] Another objective of this utility model is achieved through such a technical solution, specifically providing a rail-mounted robot assembly, including a docking system, a rail-mounted inspection robot, and a rail-mounted rescue robot. The claw assembly is mounted on the rail-mounted rescue robot or the rail-mounted inspection robot, and correspondingly, the ball head assembly is mounted on the rail-mounted inspection robot or the rail-mounted rescue robot.

[0020] Due to the adoption of the above technical solution, this utility model has the following advantages: through the docking structure, the rail-mounted rescue robot can move the rail-mounted inspection robot to the designated position stably and flexibly. Attached Figure Description

[0021] To more clearly illustrate the specific embodiments of this utility model, the accompanying drawings used in the specific embodiments will be briefly described below. In all the drawings, the elements or parts are not necessarily drawn to scale.

[0022] Figure 1 This is a schematic diagram of the structure of a docking system according to the present invention;

[0023] Figure 2 This is a schematic diagram of the chuck assembly;

[0024] Figure 3 This is a schematic diagram of the chuck mount;

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

[0026] Figure 5 This is a schematic diagram of the ball joint assembly.

[0027] Figure 6 This is a schematic diagram of a frustum column;

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

[0029] Figure 8 This is a schematic diagram of the rail-mounted robot assembly structure of this utility model.

[0030] Figure label:

[0031] 1-Claw assembly, 11-Claw seat, 111-Support platform, 112-Connecting shaft, 113-Elastic member post, 114-Annular groove, 115-First through hole, 116-Mounting groove, 12-Claw, 121-Clamping space, 122-Tail end of claw, 123-Head end of claw, 124-Concave arc, 125-Limiting platform, 126-Second through hole, 13-Frustum column, 131-Inner hole, 132-Second elastic member, 133-Baffle, 134-Buffer member, 135-Third elastic member, 14-Fastening clamp.

[0032] 2-Ball head assembly, 21-Ball head, 211-Ball head, 212-Ball head handle, 213-Annular groove, 214-Second limiting plate, 22-Rotating part, 221-U-shaped bracket, 222-Pin, 223-Fourth elastic element, 224-Third through hole, 225-First limiting plate, 23-Conical guide part, 24-Elastic ring, 241-Groove

[0033] 3-Adjustment component, 31-Ring plate, 311-Ring edge platform, 32-First elastic element,

[0034] 4-Rail-mounted inspection robot, 5-Rail-mounted rescue robot. Detailed Implementation

[0035] Please see Figures 1 to 5 A docking system includes: a claw assembly 1, a ball head assembly 2, and an adjustment component 3.

[0036] The jaw assembly 1 includes a jaw seat 11 and several jaws 12. The jaws 12 are hinged to the jaw seat 11 at intervals along the circumference of the jaw seat 11. The ball head assembly 2 has a ball head 21 and a rotating part 22. The ball head 21 is inserted into the engagement space 121 formed between the inner walls of the jaws 12, and the ball head 21 is hinged to the rotating part 22. The adjustment assembly 3 includes an annular plate 31 and several first elastic elements 32. The annular plate 31 is sleeved on the outer side of the jaws 12, and the first elastic elements 32 are spaced apart between the annular plate 31 and the jaw seat 11. The adjustment assembly 3 adjusts the radial dimension of the engagement space 121 to clamp or loosen the ball head 21. Specifically, the end of the jaw seat 11 is a disc, and the surface of the disc is provided with a support platform 111 that matches the outer shape of the outer wall of the jaw 12. The support platform 111 is nested between two adjacent jaws 12 to support and connect the jaws 12. The support platform 111 has a first through hole 115 on its side, and the claw 12 has a second through hole 126. The first through hole 115 and the second through hole 126 are coaxial. The claw seat 11 has a connecting shaft 112, which is fixedly installed in the first through hole 115 of two adjacent support platforms 111. The claw 12 is rotatably hinged to the support platform 111 through the connecting shaft 112. The claw 12 can rotate at a certain angle, so that several claws 12 can move closer or further apart. The inner walls of several claws 12 form a locking 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 has a mounting groove 116 for the claw 12, which serves to position and quickly install the claw during installation; and restricts the movement of the claw 12 with the support platform 111 during use. The chuck 12 includes a tail end 122 and a head end 123. The tail end 122 is close to the chuck seat 11. The outer diameter of the chuck 12 gradually increases from the tail end 122 to the head end 123, facilitating the movement of the ring plate 31 along the outer side of the chuck 12. Preferably, the head end 123 of the chuck is provided with a limiting platform 125, and the ring plate 31 is fitted between the limiting platform 125 and the chuck seat 11. The limiting platform 125 is provided to prevent the ring plate 31 from moving out of the chuck 12. In the free state, the diameter of the inner wall of the head end 123 of the chuck 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 chuck. The shape of the engaging space 121 matches the ball head 21. Several first elastic elements 32 are provided, evenly spaced along the circumference of the claw seat 11. One end of each first elastic element 32 is fixedly installed on the claw seat 11 by welding, and the other end abuts against the ring plate 31. Preferably, the first elastic element 32 is a spring, and there are four of them. The claw assembly 1 is also provided with a fastening hoop 14, which is located at the tail end 122 of the claw. 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, which constrains the rotation angle of the claw 12 and assists in connecting the claws 12 together.

[0037] In this invention's docking structure, the axes of the ball head 21 and the claw 12 are pre-aligned on the same straight line. During use, the ball head assembly 2 is pre-fixed, and the claw assembly 1 moves towards the ball head assembly 2 under external force. The ball head 21 inserts into the claw 12. The claw 12 gradually opens at a certain angle due to the change in the outer diameter of the ball head 21. Simultaneously, the outer side of the claw 12 drives the adjustment component 3 to move towards the claw seat 11, and the first elastic element 32 is compressed and stores energy. The ball head 21 enters the engagement space 121. At this time, the inner diameter of the engagement space 121 is larger than the outer diameter of the ball head 21. The ring plate 31 moves towards the head end 123 of the claw under the action of the first elastic element 32, thereby causing the claw 12 to move closer to the axis under the action of the adjustment component 3 until the outer wall of the ball head 21 is tightly connected to the inner wall of the claw 12, and the ball head 21 is fixed in the engagement space 121. During the movement of the ball head assembly 2 while the claw assembly 1 is pulling the ball head assembly 2, when the docking structure is subjected to external vibration, the claw 12 is prevented from rotating due to the pressure exerted by the adjusting component group 3. The ball head 21 remains fixed within the claw 12 and will not fall off. When not in use, forcefully move the ring plate 31 towards the claw seat 11. At this time, the claw 12 can rotate, allowing the ball head assembly 2 to be removed. When the claw assembly 1 pulls the ball head assembly 2 and encounters curved, uphill, or downhill sections, there will be a certain angle between the axis of the claw assembly 1 and the axis of the ball head assembly 2. Because the ball head 21 is hinged to the rotating part 22, the ball head 21 can rotate around the rotating part 22 at a certain angle depending on the actual situation, allowing the ball head assembly 2 to rotate flexibly to cooperate with the claw assembly 1. Maintaining a proper connection between the claw assembly 1 and the ball head 21 allows for flexible passage through the aforementioned sections without needing to reduce or accelerate the movement speed, thus avoiding accidents.

[0038] Please see Figure 1 and Figure 2 Furthermore, the claw seat 11 is provided with an elastic post 113, and a first elastic element 32 is at least partially disposed in the elastic post 113. One end of the first elastic element 32 is connected to the inner wall of the elastic post 113, and the other end abuts against the ring plate 31. Specifically, the claw seat 11 is provided with an elastic post 113 that mates with each first elastic element 32. The elastic post 113 is through-hole and welded to the claw seat 11. One end of the elastic post 113 is provided with a top wall, and the ring plate 31 is provided with an annular edge 311. One end of the first elastic element 32 is welded to the inner wall of the top wall of the elastic post 113, and the other end abuts against the annular edge 311. The inner diameter of the elastic post 113 is slightly larger than the outer diameter of the first elastic element 32, so that the first elastic element 32 can be easily placed in the elastic post 113 without interfering with the extension and contraction of the first elastic element 32. Preferably, the depth of the elastic member post 113 is long enough so that most of the first elastic member 32 is disposed in the elastic member post 113. With this structure, the extension and retraction direction of the first elastic member 32 is along the axial direction of the elastic member post 113, which limits the deformation and direction of the extension and retraction of the first elastic member 32, and the extension and retraction of the first elastic member 32 will not be deviated, thus ensuring that a force is applied to the claw 12.

[0039] Please see Figure 5 Furthermore, an annular groove 213 is provided between the ball head 21 and the rotating part 22, and the inner wall of the claw 12 is provided with an inwardly concave arc 124 that matches the shape of the ball head. 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. The surface of the ball head handle 212 near the ball head 211 is provided with an annular groove 213, and the outer diameter of the annular groove 213 is smaller than the outer diameter of the ball head 21. The inner wall of the claw 12 is provided with an inwardly concave arc 124. When the ball head 211 is inserted into the engaging space 121, the front end 123 of the claw engages in the annular groove 213, which helps to strengthen the connection between the claw assembly 1 and the ball head assembly 2, and prevents the ball head 21 from falling out of the engaging space 121. Preferably, the head end 123 of the claw is chamfered to facilitate the entry of the ball head 21. Preferably, the ball head handle 212 is integrally formed with the ball head 21.

[0040] Please see Figure 5 and Figure 6 Furthermore, the ball joint assembly 2 also includes a tapered guide portion 23, which is located at the front end of the ball joint 21. The chuck assembly 1 has a frustum 13 with an inner hole 131, into which the tapered guide portion 23 is inserted. Specifically, the tapered guide portion 23 is located at the front end of the ball joint 211. The frustum 13 is welded to the chuck seat 11, or the frustum 13 and the chuck seat 11 are integrally formed. The frustum 13 extends at least partially into the end of the chuck 12 away from the ball joint assembly 2. The axis of the inner hole 131 is aligned with the axis of the chuck 12. The tapered guide portion 23 is cylindrical at the end facing the frustum 13 and tapered at the rear end. The inner hole 131 matches the shape of the tapered guide portion 23. This structure ensures centering and guidance through tapered docking, guaranteeing installation accuracy and strength.

[0041] Please see Figure 5 and Figure 6 Furthermore, the inner hole 131 is provided with a buffer 134, which includes a second elastic element 132 and a baffle 133. One end of the second elastic element 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 element 132 is a spring. With this structure, the tapered guide 23 has a buffering effect when inserted into the inner hole 131, preventing the tapered guide 23 from rigidly entering the inner hole 131 and protecting the tapered guide 23.

[0042] Please see Figure 5 and Figure 6Furthermore, the sidewall of the inner hole is provided with a third elastic element 135 at intervals, and the tapered guide portion 23 abuts against the outer side of the third elastic element 135 when inserted into the inner hole 131. Specifically, there are four third elastic elements 135, which are evenly spaced along the inner wall of the inner hole 131. The inner wall of the inner hole 131 is provided with a third elastic element mounting groove, and the third elastic element 135 is installed in the third elastic element mounting groove. The outer side of the third elastic element 135 abuts against the outer side of the tapered guide portion 23. Preferably, the third elastic element 135 is a spring sheet. With this structure, the tapered guide portion 23 is clamped in the third elastic element 135, which helps prevent the ball head 21 from falling out of the claw assembly 1.

[0043] Please see Figure 1 Furthermore, the ball joint assembly 2 also includes an elastic ring 24, which is nested outside the rotating part 22. The outer surface of the elastic ring 24 has a groove 241. Specifically, the elastic ring 24 covers a portion of the rotating part 22 and the ball joint handle 212. When the ball joint handle 212 rotates around the rotating part 22 at a certain angle, the elastic ring 24 deforms, providing a buffering constraint on the rotation angle of the ball joint handle 212, allowing the ball joint assembly 2 to rotate flexibly and engage with the pawl assembly 1. Due to the elastic force of the elastic ring 24, the ball joint handle 212 can quickly return to its original position, keeping the ball joint handle 212 and the rotating part 22 on the same axis, thus enabling switching between curved sections, straight sections, uphill sections, or downhill sections. The outer surface of the elastic ring 24 has a groove 241, which is one of annular grooves, threaded grooves, or circumferentially spaced slots. Several grooves 241 are provided, 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 its deformation capacity. The elastic ring 24 quickly adapts to the rotation angle of the ball head 212, accelerates the return of the ball head 212 to its original position, and extends the service life of the elastic ring 24. Preferably, the elastic ring 24 is made of a transparent material, which facilitates inspection of the internal parts of the rotating part 22 or whether the elastic ring 24 is worn and requires maintenance or replacement.

[0044] Please see Figure 5 and Figure 7Furthermore, the rotating part 22 includes a U-shaped frame 221, a pin 222, and a fourth elastic element 223. The pin 222 is installed in the U-shaped frame 221, and the ball head 21 is hinged to the pin 222. The fourth elastic element 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 ball head hinge. Specifically, one open end of the U-shaped frame 221 faces one end of the ball head handle 212, which is hinged between the two arms of the U-shaped frame 221 and can rotate around the hinge point at a certain angle. The U-shaped frame 221 is provided with a third through hole 224; the pin 222 passes through the third through hole 224 and is installed in the U-shaped frame 221. The fourth elastic element 223 is sleeved on the outside of the pin 222, and the pin 222 limits the position and direction of the extension and retraction of the fourth elastic element 223 to prevent the fourth elastic element 223 from deforming or displacing. One end of the elastic element 231 abuts against the inner wall of the U-shaped frame 221, and the other end abuts against the outer side of the ball joint 212. This design buffers the rotation angle of the ball joint 212, reducing instantaneous impact, and also assists in the ball joint 212 returning to its original position. Preferably, the fourth elastic element 223 is a spring, and two sets of the fourth elastic element 223 are symmetrically installed at both ends of the pin 222. This helps the ball joint 212 adapt to left-hand or right-hand bends.

[0045] Please see Figure 5 Furthermore, a first limiting plate 225 is provided on the outer surface of the rotating part 22, and a second limiting plate 214 is provided on the outer surface of the ball head 21. An elastic ring 24 is disposed 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 deformed and then fused together between the first limiting plate 225 and the second limiting plate 214. This structure increases the strength of the tail and head of the elastic ring 3, and the deformation is limited between the first limiting plate 225 and the second limiting plate 214.

[0046] Please see Figure 8A rail-mounted robot assembly includes a docking system, a rail-mounted inspection robot 4, and a rail-mounted rescue robot 5. A claw assembly 1 is mounted on either the rail-mounted rescue robot 5 or the rail-mounted inspection robot 4. Correspondingly, a ball head assembly 2 is mounted on either the rail-mounted inspection robot 4 or the rail-mounted rescue robot 5. Specifically, the claw seat 11 has mounting holes and is bolted to the front end of the rail-mounted rescue robot 5 or the rear end of the rail-mounted inspection robot 4. Correspondingly, the ball head assembly 2 also has mounting positioning holes and is bolted to the rear end of the rail-mounted inspection robot 4 or the front end of the rail-mounted rescue robot 5. When the rail-mounted inspection robot 4 malfunctions, it stops on the rail. The rail-mounted rescue robot 5, driven by its own power, moves from the claw assembly 1 to the ball head assembly 2, completing the docking operation and dragging the rail-mounted inspection robot 4 to a designated position. Then, it moves the ring plate 31 towards the claw seat 11 and removes the rail-mounted inspection robot 4 for repair.

[0047] The docking system and rail-mounted robot assembly of this utility model have an adjustment component 3 on the outside of the gripper 12. When the ball head 21 is inserted into the gripper 12, the adjustment component 3 moves towards the gripper seat 11, and the first elastic element 32 stores energy. After the ball head 212 is inserted into the engagement space 121, the ring plate 31 moves towards the head end 123 of the gripper under the action of the first elastic element 32, applying pressure to the gripper 12 and securing the ball head assembly 2 to the gripper assembly 1, preventing it from being dislodged from the gripper assembly 1 by external vibration. The ball head 21 is hinged to 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 scenario. The elastic ring 24 constrains the rotation angle, preventing the rotation angle from being too large and causing accidents. After completing the curved section, uphill section or downhill section, the ball head 21 can quickly return to its original position under the elastic force of the elastic ring 24. The jaw seat 11 is equipped with an elastic post 113. The first elastic element 32 provides stable extension and contraction, preventing displacement. The jaw assembly 1 is equipped with a frustum column 13, which has a second elastic element 132 and a third elastic element 135. These elements protect and hold the conical guide 23, helping to prevent the ball head 21 from falling off the jaw assembly 1. The outer surface of the elastic ring 24 has a groove 241, which not only reduces the mass of the elastic ring 24 but also improves its deformation capacity. The elastic ring 24 quickly adapts to the rotation angle of the ball head shank 212, accelerates the return of the ball head shank 212 to its original position, and improves the service life of the elastic ring 24. Two sets of fourth elastic elements 223 are symmetrically arranged on the rotating part 22, which helps the rail-mounted robot adapt to left-curving sections, right-curving sections, uphill sections, or downhill sections.

[0048] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of this utility model. It should be understood that the above description is only a specific implementation method of this utility model and is not intended to limit this utility model. Any modifications, equivalent substitutions, and improvements made within the scope of the spirit of this utility model should be included within the protection scope of this utility model.

Claims

1. A docking system, characterized by The utility model relates to a ball head clamp, comprising: A claw assembly (1) comprising a claw base (11) and a plurality of claws (12), the claws (12) are installed on the claw base (11) in a hinge manner and are spaced apart circumferentially along the claw base (11); A ball head assembly (2) comprising a ball head part (21) and a rotating part (22), the ball head part (21) is inserted into a clamping space (121) formed between the inner walls of the claws (12), and the ball head part (21) is hingedly connected to the rotating part (22); and An adjusting assembly (3) comprising a ring plate (31) and a plurality of first elastic members (32), the ring plate (31) is sleeved on the outer side of the claws (12), the first elastic members (32) are arranged between the ring plate (31) and the claw base (11) in a spaced apart manner, the adjusting assembly (3) adjusts the radial dimension of the clamping space (121) to clamp or release the ball head part (21).

2. The docking system of claim 1, wherein, The claw base (11) is provided with an elastic member column (113), the first elastic members (32) are at least partially arranged in the elastic member column (113), one end of the first elastic members (32) is connected to the inner wall of the elastic member column (113), and the other end is in abutment with the ring plate (31).

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

4. The docking system according to claim 1 or 2, characterized in that The ball head assembly (2) further comprises a conical guide part (23) arranged at the front end of the ball head part (21), and the claw assembly (1) is provided with a circular table column (13) provided with an inner hole (131) matched with the shape of the conical guide part (23), and the conical guide part (23) is inserted into the inner hole (131).

5. The docking system of claim 4, wherein, The inner hole (131) is provided with a buffer member (134) comprising a second elastic member (132) and a baffle (133), 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 of claim 4, wherein, The side wall of the inner hole (131) is provided with a third elastic member (135) in a spaced apart manner, and the conical guide part (23) is in abutment with the outside of the third elastic member (135) when inserted into the inner hole (131).

7. The docking system of claim 1, 2, 5 or 6, wherein, The ball head assembly (2) further comprises an elastic ring (24) nested on the outside of the rotating part (22), and the outside surface of the elastic ring (24) is provided with a strip groove (241).

8. The docking system of claim 7, wherein, The outside surface of the rotating part (22) is provided with a first limiting plate (225), the outside surface of the ball head part (21) is provided with a second limiting plate (214), and the elastic ring (24) is arranged between the first limiting plate (225) and the second limiting plate (214).

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

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

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