CN108213797B - Foldable rapid clamping guide rail type mobile robot - Google Patents

Abstract

The invention provides a foldable rapid clamping guide rail type mobile robot, relates to the technical field of robots, and solves the technical problem that rapid clamping cannot be realized between a robot main body and a walking rail in the prior art. The mobile robot comprises a driving device, a trolley body and a track, wherein the trolley body comprises an installation mainboard and a track clamping device, the track clamping device comprises a fixing part, a sliding part and a locking part, the fixing part is fixed at the lower side of the installation mainboard, the sliding part can be slidably arranged on the installation mainboard, when the locking part drives the sliding part to slide towards the direction close to the fixing part, the fixing part and the sliding part can be clamped with the track by the left side and the right side of the track in cooperation, and the quick clamping of the trolley body and the track is realized.

Description

A Foldable Fast Clamping Rail Type Mobile Robot

technical field

The invention relates to the technical field of robots, in particular to a foldable fast-clamping rail-type mobile robot.

Background technique

A mobile robot is a machine device that performs work autonomously. It can accept human command, run pre-programmed programs, and act according to principles formulated with artificial intelligence technology. Its task is to assist or replace human work, such as production, construction or dangerous work. At present, mobile robots are developing rapidly and have been applied in many industries.

In the occasions of welding, cutting and testing, the mobile robot is connected to the workpiece through the track, and the mobile robot walks on the track and completes the work.

The applicant finds that the prior art has at least the following technical problems:

At present, there are various connection methods between the mobile robot body and its walking track. In order to ensure reliability, most of the card installation methods are very cumbersome and cannot be quickly installed, which is not convenient enough and affects the work efficiency of the mobile robot; The method is often only suitable for one kind of track, and the adaptability is poor. When it is installed on other tracks, there will be problems of clamping difficulty and poor flexibility. In addition, when the mobile robot walks on an irregular or uneven surface, the mobile robot and the workpiece The connection between them is unreliable and not fastened, which will affect the working effect and the safety is poor; in addition, the length of the walking track is fixed, the connection strength between the walking track and the workpiece is not easy to control, and the pre-tightening force cannot be adjusted , prone to excessive force, the reliability is affected.

Contents of the invention

The purpose of the present invention is to provide a foldable fast-clamping rail-type mobile robot to solve the technical problem in the prior art that fast-clamping cannot be realized between the robot body and the walking track. The many technical effects that can be produced by the preferred technical solutions among the many technical solutions provided by the present invention are described in detail below.

To achieve the above object, the present invention provides the following technical solutions:

A foldable fast clamping guide rail mobile robot provided by the present invention includes a driving device, a trolley main body and a track, the trolley main body is connected to the driving device in transmission, the track is fixed on a workpiece, and the trolley main body Installed on the track, and the main body of the trolley can walk along the track, the main body of the trolley includes:

install the main board, which can carry the main body of the car and the driving device;

A rail clamping device, which is arranged on the installation main board, for clamping the track; the rail clamping device includes a fixing part, a sliding part and a locking part, and the fixing part is fixed on the installation main board On the lower side, the sliding part is slidably arranged on the installation main board, and the locking part can drive the sliding part to slide toward or away from the fixing part. When the locking part drives the sliding When the fixed part slides in a direction close to the fixed part, the fixed part and the sliding part can clamp the track by the left and right sides of the track, so as to realize the quick clamping of the main body of the trolley.

Optionally, the fixing part includes a first rolling wheel and a first U-shaped frame, the first rolling wheel is pivotally connected to the inner side of the first U-shaped frame, and the first U-shaped frame is fixed to the The underside of the above-mentioned installation main board; The sliding part includes a second rolling wheel, a second U-shaped frame, a sliding cover and a connecting rod, and the opening of the first U-shaped frame is in the same direction as the opening direction of the second U-shaped frame. In contrast, the second rolling wheel is pivotally connected to the inner side of the second U-shaped frame, the second U-shaped frame is located on the lower side of the installation main board, and the sliding cover is located on the upper side of the installation main board , the second U-shaped frame is fixedly connected to the sliding cover plate through the connecting rod, the installation main board is provided with a chute, and the connecting rod can be slidably arranged in the chute; the first The scroll wheel cooperates with the second scroll wheel to clamp the track.

Optionally, the structure and shape of the first scroll wheel and the second scroll wheel are the same, and both are split structures, the first scroll wheel is composed of an upper half wheel and a lower half wheel, and the second scroll wheel The second rolling wheel is composed of an upper half wheel and a lower half wheel, the upper half wheel and the lower half wheel are mirror images of each other, and a spacer sleeve is arranged between the upper half wheel and the lower half wheel.

Optionally, the upper half-wheel tapers from a place away from the spacer to a place close to the spacer, and the lower half-wheel tapers from a place away from the spacer to a place close to the spacer, so that Both the joints of the first rolling wheel and the track and the joints of the second rolling wheel and the track form V-shaped grooves.

Optionally, the locking part includes an L-shaped bracket and a threaded knob, the L-shaped bracket is fixed on the lower side of the mounting plate at an end away from the track, and a threaded hole is opened on the L-shaped bracket , the threaded end of the threaded knob passes through the threaded hole and is fixed on the second U-shaped frame.

Optionally, the drive device includes a motor base, a motor, a motor shaft gear, and a transmission intermediate wheel, the motor base is fixed on the installation main board, the motor is installed on the motor base, and the output of the motor The shaft is fixedly connected with the motor shaft gear, and the motor shaft gear meshes with the transmission gear; a guide rack is arranged on the track, and the transmission gear meshes with the guide rack.

Optionally, the installation main board includes a main board body and wing plates hinged on both sides of the main board body, an angle limiting plate is arranged between each of the wing plates and the main board, and one of the angle limiting plates The side is fixed on the main body, the side of the angle limiting plate away from the main body is provided with an arc groove, and the wing plate is fixed to the angle limiting plate by bolts arranged in the arc groove superior.

Optionally, it also includes a plurality of spring support mechanisms arranged inside the track, the spring support mechanisms include a base, an inner core, a spring and a stud, and a through hole is axially opened on the inner core, and the The spring is arranged in the through hole, and the end of the through hole away from the track is provided with a section of internal thread, and when the stud is screwed into the inner core, the end of the stud close to the track is connected to the The spring is opposed to each other, and a mounting hole is opened on the base, and the inner core is slidably arranged in the mounting hole.

Optionally, a limiting protrusion is provided on the end of the mounting hole away from the track, and a limiting protrusion is provided on the outer side of the inner core. When the inner core slides along the mounting hole, the limiting protrusion The inner core is limited when it slides to the limiting protrusion.

Optionally, a wire rope locking mechanism is also included, and the wire rope locking mechanism includes a crank, a speed reducer, a connecting shaft and a ratchet mechanism, the crank is connected with the input shaft of the speed reducer, and the output of the speed reducer The shaft is connected with the ratchet mechanism through the connecting shaft; the track is composed of two sections, namely the first section and the second section, and the fixed end of the first section is rotatably connected with the fixed end of the second section , the free end of the first section and the free end of the second section are connected by buckles; the ratchet mechanism includes a ratchet shaft and a wire rope, the ratchet shaft is located on the first section, and one end of the wire rope It is fixed on the ratchet shaft, and the other end of the wire rope is fixed on the second section.

The present invention provides a foldable fast clamping rail-type mobile robot. When the locking part drives the sliding part to slide in the direction close to the fixed part, the fixed part and the sliding part can cooperate to clamp the track from the left and right sides of the track. Realize the rapid loading of the main body of the trolley and the track.

Description of drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

Fig. 1 is a three-dimensional structural schematic diagram of a foldable fast clamping rail type mobile robot of the present invention;

Fig. 2 is a partially enlarged schematic diagram of a foldable fast-clamping rail-type mobile robot of the present invention;

Fig. 3 is a schematic diagram of the connection between the main board and the angle limiting board;

Fig. 4 is a schematic diagram of the connection relationship between the track clamping device and the track;

Fig. 5 is a schematic diagram of the installation position of the spacer sleeve;

Fig. 6 is a structural schematic diagram of installing the main board;

Fig. 7 is a schematic structural view of the spring support mechanism;

Fig. 8 is a structural schematic diagram of the wire rope locking mechanism.

In the figure 1, the main body of the trolley; 11, installing the main board; 111, the sliding cover; 112, the L-shaped bracket; 113, the threaded knob; 114, the angle limiting plate; 115, the main body; 116, the wing plate; 13, motor seat; 14, motor; 15, motor shaft gear; 16, transmission intermediate wheel; 17, guide rack; 18, rolling wheel shaft; 19, U-shaped frame; 2, track; 3, spring support mechanism; 31, Base; 32, inner core; 33, spring; 34, stud; 4, wire rope locking mechanism; 41, crank; 42, reducer; 43, connecting shaft; 44, ratchet mechanism; 441, ratchet shaft.

Detailed ways

In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described in detail below. Apparently, the described embodiments are only some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other implementations obtained by persons of ordinary skill in the art without making creative efforts fall within the protection scope of the present invention.

As shown in Figure 1 and Figure 2, the present invention provides a foldable fast clamping guide rail type mobile robot, including a driving device, a trolley main body 1 and a track 2, the trolley main body 1 is connected to the driving device, and the track 2 is fixed on On the workpiece, the main body of the trolley 1 is clamped on the track 2, and the main body of the trolley 1 can walk along the track 2. The main body of the trolley 1 includes:

Install the main board 11, which can carry the car main body 1 and the driving device;

Track 2 clamping device, it is arranged on the mounting main board 11, is used for clamping track 2; Track 2 clamping device comprises fixing part, sliding part and locking part, and fixing part is fixed on the lower side of installing main board 11, and sliding part It can be slidably arranged on the installation main board 11, and the locking part can drive the sliding part to slide towards or away from the fixed part. The left and right sides of the rail 2 are clamped to realize fast loading of the main body 1 of the trolley.

When the locking part drives the sliding part to slide in the direction close to the fixed part, the fixed part and the sliding part can cooperate to clamp the rail 2 from the left and right sides of the rail 2, so as to realize the quick installation and disassembly of the trolley main body 1 and the rail 2 , to improve the work efficiency of mobile robots.

As an optional implementation, as shown in Figure 4, the fixed part includes a first rolling wheel and a first U-shaped frame, the first rolling wheel is pivotally connected to the inner side of the first U-shaped frame, and the first U-shaped frame is fixed on the Install the underside of the main board 11; the sliding part includes a second rolling wheel, a second U-shaped frame, a sliding cover plate 111 and a connecting rod, the opening of the first U-shaped frame is opposite to the opening direction of the second U-shaped frame, and the second rolling wheel The wheels are pivotally connected to the inner side of the second U-shaped frame, the second U-shaped frame is located at the lower side of the installation main board 11, and the sliding cover plate 111 is located at the upper side of the installation main board 11, and the second U-shaped frame is connected with the sliding cover plate 111 through the connecting rod. For fixed connection, a chute is provided on the installation main board 11, and the connecting rod can be slidably arranged in the chute; the first rolling wheel and the second rolling wheel cooperate to clamp the track 2.

The scroll wheel 12 in the U-shaped frame fixed on the lower side of the installation main board 11---the first scroll wheel, cooperates with the scroll wheel 12---the second scroll wheel in the U-shaped frame that is slidably arranged on the installation main board 11, The rotation is flexible and the connection is reliable.

As an optional implementation, as shown in Figure 5, the structure and shape of the first scroll wheel and the second scroll wheel are the same, and both are split structures, the first scroll wheel is composed of an upper half wheel and a lower half wheel, The second rolling wheel is composed of an upper half wheel and a lower half wheel, which are mirror images of each other, and a spacer sleeve is arranged between the upper half wheel and the lower half wheel.

A spacer sleeve is set between the upper half wheel and the lower half wheel. When the trolley body is walking on the track 2, there is buffer space. The speed is different and there is a freeze, and the walking is smoother.

As an optional embodiment, the upper half wheel tapers away from the distance sleeve to the spacer sleeve, and the lower half wheel tapers from the distance sleeve to the distance sleeve, so that the connection between the first rolling wheel and the track 2 V-shaped grooves are formed at the junction of the second rolling wheel and the track 2.

There is a chamfer at the edge of the track 2, and the rolling wheel 12 forms a V-shaped groove, which is adapted to the shape of the track 2, and the connection with the track 2 is tighter and more reliable.

As an optional embodiment, the locking part includes an L-shaped bracket 112 and a threaded knob 113. The L-shaped bracket 112 is affixed to the lower side of the mounting plate at an end away from the track 2. A threaded hole is provided on the L-shaped bracket 112, and the threaded The threaded end of the knob 113 is fixed on the second U-shaped frame through the threaded hole.

When installing, put the first rolling wheel of the trolley body 1 against one side of the track 2, and push the second U-shaped frame to move toward the track 2 by turning the threaded knob 113 until the second rolling wheel touches the other side of the track 2 , to complete the quick clamping of the main body 1 of the trolley and the track 2; the structure of the locking part is simple, the screw transmission is stable, and the reliability is high.

As an optional embodiment, the driving device includes a motor 14 seat 13, a motor 14, a motor 14 shaft gear and a transmission intermediate wheel 16, the motor 14 seat 13 is fixed on the main board 11, and the motor 14 is installed on the motor 14 seat 13. The output shaft of 14 is fixedly connected with 14 shaft gears of the motor, and the 14 shaft gears of the motor are meshed with the transmission intermediate wheel 16;

The transmission is carried out by gear meshing with the track 2 directly, the movement of the trolley main body 1 is faster and more convenient, and the control process is more direct and the error is relatively small.

As an optional implementation, as shown in Fig. 3 and Fig. 6, the installation mainboard 11 includes a mainboard body 115 and wing plates 116 hinged on both sides of the mainboard body 115, and an angle limiter is provided between each wing plate 116 and the mainboard. Plate 114, one side of the angle limiting plate 114 is fixed on the main body 115, the side of the angle limiting plate 114 away from the main body 115 is provided with an arc groove, and the wing plate 116 is fixed on the on the angle limiting plate 114 .

By adjusting the angle between the two wing plates 116 and the main body 115, it is suitable for the rails 2 with different curvature radii, and has a wide application range; moreover, it is convenient for clamping and good flexibility.

As an optional embodiment, the foldable quick-clamping rail-type mobile robot also includes a plurality of springs 33 supporting mechanisms 3 arranged on the inside of the track 2. The structure of the spring 33 supporting mechanisms 3 is shown in Figure 7, and the springs 33 supporting mechanisms 3 includes a base 31, an inner core 32, a spring 33 and a stud 34, the inner core 32 is axially provided with a through hole, the spring 33 is arranged in the through hole, and the end of the through hole away from the track 2 is provided with a section of internal thread, When the stud 34 is screwed into the inner core 32, one end of the stud 34 close to the track 2 is against the spring 33, and the base 31 is provided with a mounting hole, and the inner core 32 is slidably disposed in the mounting hole.

The spring 33 performs self-adaptive fastening on the surface of the irregular workpiece, and the connection is reliable and the fastening is good.

As an optional embodiment, the end of the mounting hole away from the track 2 is provided with a limiting protrusion, and the outer side of the inner core 32 is provided with a limiting protrusion. When the inner core 32 slides along the mounting hole, the limiting protrusion slides to the limiting protrusion. The inner core 32 is limited at the time.

As an optional embodiment, the foldable fast clamping guide rail type mobile robot also includes a wire rope locking mechanism 4, the structure of the wire rope locking mechanism 4 is shown in Figure 8, and the wire rope locking mechanism 4 includes a crank 41, a speed reducer 42. The connecting shaft 43 and the ratchet mechanism 44, the crank 41 is connected to the input shaft of the reducer 42, and the output shaft of the reducer 42 is connected to the ratchet mechanism 44 through the connecting shaft 43; the track 2 is composed of two sections, respectively the first section and the second section, the fixed end of the first section is rotationally connected with the fixed end of the second section, and the free end of the first section is connected with the free end of the second section through buckles; the ratchet mechanism 44 includes a ratchet shaft 441 and a wire rope, and the ratchet The axle 441 is located on the first section, one end of the wire rope is fixed on the ratchet shaft 441, and the other end of the wire rope is fixed on the second section.

The two sections of track 2 are connected by a steel wire rope, the connection strength is well controlled, the pre-tightening force can be adjusted, and the reliability is high.

The present invention provides a folding fast clamping guide rail type mobile welding robot, which is mainly composed of a trolley main body 1, a track 2, a spring 33 support mechanism 3 and a wire rope locking mechanism 4, wherein: the main board 11 is installed to carry the welding trolley The main structure, the installation main board 11 is composed of three boards connected together by a rotating pair, the middle is the main board body 115, and the two side boards are wing plates 116. The angle limiting plate 114 is used to adjust and limit the angle between the main main body 115 and the wing plate 116, which can be applied to the rails 2 with different specifications and diameters.

Install the track 2 clamping device on the main board 11 to fix the trolley main body 1 on the welding track 2, and rely on the rolling wheels 12 to complete the walking motion around the track 2, wherein: fixed on the travel motor 14 seats 13 with deceleration The motor 14 of the device 42 is connected with the motor 14 shaft gear key through the motor 14 shaft, the motor 14 shaft gear is meshed with the transmission intermediary wheel 16 on the main board 11, and the transmission intermediary wheel 16 is then welded to the guide rack 17 at the center of the track 2 The four rolling wheels 12 are all driven. The rolling wheel 12 of the track 2 clamping device is fixed on the inner side of the U-shaped frame 19 by the rolling wheel 12 shafts. The rolling wheel 12 is composed of upper and lower parts. The center of the half wheel is separated by a spacer sleeve, and a V-shaped groove is formed in the center of the rolling wheel 12 for matching the track 2. The rolling wheels 12 on both sides of the track 2, wherein the left side fixes the U-shaped frame 19 to the underside of the main board 11 by bolts, and the right side fixes the U-shaped frame 19 and the slider part of the sliding cover plate 111 together by bolts, The protruding slider part of the sliding cover plate 111 is embedded in the sliding groove at one end of the wing plate 116, so that the scroll wheel 12 on the right side can be translated left and right for a certain distance. Fix the L-shaped bracket 112 to the end position on the right side of the sliding groove of the main board 11 with bolts, and install the threaded knob 113 in the middle of the L-shaped bracket 112. The threaded end of the threaded knob 113 is fixed on the U-shaped frame 19 on the bearing in the middle of the back, so that the scroll wheel 12 on the right side can be controlled to perform relative translation in the axial direction of the track 2 by adjusting the threaded knob 113 .

The spring 33 supporting mechanism 3 installed on the inner side of the rail 2 can allow the rail 2 to be stably attached to the workpiece pipeline. The spring 33 supporting mechanism 3 is composed of a base 31, a stud 34, an inner core 32 and a spring 33. This mechanism can make the track 2 be loaded on the pipeline with irregular surface, and the spring 33 can make the track 2 realize adaptive fixation.

The track 2 is further locked by the wire rope locking mechanism 4, so that the track 2 is completely locked on the workpiece surface. The wire rope locking mechanism 4 is composed of a crank 41, a reducer 42, a connecting shaft 43 and a ratchet mechanism 44. The crank 41 is a centrifugal disc handle, and the reducer 42 is composed of two gears with a gear ratio of 2:1; the ratchet Mechanism 44 is mainly made up of base, wire rope and ratchet shaft 441. Crank handle 41 keys are connected on the bull gear of speed reducer 42, and the pinion of speed reducer 42 other ends is connected with connecting shaft 43 with key, and connecting shaft 43 is connected on the ratchet mechanism 44 by key. One end of the steel wire rope is fixed on the ratchet shaft 441, and the other end is wound around the groove at the bottom of the buckle at the joint part of the track 2. Turning the handle 41 drives the ratchet shaft 441 to rotate through the reducer 42, and then tightens the wire rope, so that the track 2 is completely fixed on the On workpiece pipes that cannot be completely covered. This mechanism can effectively prevent the track 2 from being overly exerted during loading, can adjust the pre-tightening force of the guide track, and can adapt to workpiece pipe diameters of different diameters.

The above is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Anyone skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present invention. Should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims (6)

1. A foldable fast-clamping rail-type mobile robot, characterized in that it comprises a driving device, a trolley main body and a track, the trolley main body is connected to the driving device in transmission, the rail is fixed on a workpiece, and the The main body of the trolley is clamped on the track, and the main body of the trolley can walk along the track. The main body of the trolley includes: install the main board, which can carry the main body of the car and the driving device; A rail clamping device, which is arranged on the installation main board, for clamping the track; the rail clamping device includes a fixing part, a sliding part and a locking part, and the fixing part is fixed on the installation main board On the lower side, the sliding part is slidably arranged on the installation main board, and the locking part can drive the sliding part to slide toward or away from the fixing part. When the locking part drives the sliding When the part slides in the direction close to the fixed part, the fixed part and the sliding part can clamp the track by the left and right sides of the track, so as to realize the quick clamping of the main body of the trolley; The fixing part includes a first rolling wheel and a first U-shaped frame, the first rolling wheel is pivotally connected to the inner side of the first U-shaped frame, and the first U-shaped frame is fixedly connected to the mounting board. The lower side; the sliding part includes a second rolling wheel, a second U-shaped frame, a sliding cover plate and a connecting rod, the opening of the first U-shaped frame is opposite to the opening direction of the second U-shaped frame, and the The second scroll wheel is pivotally connected to the inner side of the second U-shaped frame, the second U-shaped frame is located on the lower side of the installation main board, the sliding cover is located on the upper side of the installation main board, and the first The two U-shaped frames are fixedly connected with the sliding cover plate through the connecting rod, and a chute is opened on the installation main board, and the connecting rod can be slidably arranged in the chute; the first rolling wheel and the The second rolling wheel cooperates to clamp the track; The structure and shape of the first scroll wheel and the second scroll wheel are the same, and both are split structures. The first scroll wheel is composed of an upper half wheel and a lower half wheel, and the second scroll wheel is composed of Composed of an upper half wheel and a lower half wheel, the upper half wheel and the lower half wheel are mirror images of each other, and a spacer sleeve is arranged between the upper half wheel and the lower half wheel; The upper half wheel is gradually tapered from the place away from the spacer sleeve to the place close to the spacer sleeve, and the lower half wheel is tapered from the place away from the spacer sleeve to the place close to the spacer sleeve, so that Both the connection between the scroll wheel and the track and the connection between the second scroll wheel and the track form a V-shaped groove; The installation main board includes a main board body and wing plates hinged on both sides of the main board body, an angle limiting plate is arranged between each of the wing plates and the main board, and one side of the angle limiting plate is fixed to the On the main body, an arc groove is opened on the side of the angle limiting plate away from the main body, and the wing plate is fixed to the angle limiting plate by bolts arranged in the arc groove. 2. A foldable fast-clamping rail-type mobile robot according to claim 1, wherein the locking part comprises an L-shaped bracket and a threaded knob, and the L-shaped bracket is fixed to the mounting At the end of the lower side of the plate away from the track, a threaded hole is opened on the L-shaped bracket, and the threaded end of the threaded knob passes through the threaded hole and is fixedly connected to the second U-shaped bracket. 3. A foldable fast-clamping rail-type mobile robot according to claim 2, wherein the drive device includes a motor base, a motor, a motor shaft gear and a transmission intermediate wheel, and the motor base is fixed on On the installation main board, the motor is installed on the motor seat, the output shaft of the motor is fixedly connected with the motor shaft gear, and the motor shaft gear is meshed with the transmission intermediary wheel; A guide rack is provided, and the transmission intermediate wheel meshes with the guide rack. 4. A foldable fast-clamping rail-type mobile robot according to claim 1, further comprising a plurality of spring support mechanisms arranged on the inner side of the track, the spring support mechanisms comprising a base, Inner core, springs and studs, the inner core is provided with a through hole in the axial direction, the spring is arranged in the through hole, and the end of the through hole away from the track is provided with a section of internal thread. When the stud is screwed into the inner core, one end of the stud close to the rail is against the spring, and a mounting hole is opened on the base, and the inner core is slidably disposed in the mounting hole. 5. A foldable fast-clamping rail-type mobile robot according to claim 4, characterized in that, the end of the mounting hole away from the track is provided with a limiting protrusion, and the outer side of the inner core is provided with a There is a limiting protrusion, and when the inner core slides along the installation hole, the inner core is limited when the limiting protrusion slides to the limiting protrusion. 6. A foldable fast clamping rail-type mobile robot according to claim 1, further comprising a wire rope locking mechanism, the wire rope locking mechanism including a crank, a reducer, a connecting shaft and a ratchet mechanism, the handle is connected to the input shaft of the reducer, and the output shaft of the reducer is connected to the ratchet mechanism through the connecting shaft; the track is composed of two sections, namely the first section and the second section Two sections, the fixed end of the first section is rotationally connected with the fixed end of the second section, and the free end of the first section is connected with the free end of the second section through buckles; the ratchet mechanism includes A ratchet shaft and a steel wire rope, the ratchet shaft is located on the first section, one end of the steel wire rope is fixed on the ratchet shaft, and the other end of the steel wire rope is fixed on the second section.