Anti-falling structure of logistics shuttle robot

Abstract

The application discloses a kind of anti-falling structures of logistics shuttle robot, it is applied to logistics shuttle robot to prevent it from falling off from cable rail, and logistics shuttle robot runs on cable rail by drive wheel group therein, the anti-falling structure includes at least one set of homing device capable of applying force towards cable rail to drive wheel group, homing device is directly or indirectly installed on logistics shuttle robot, and cable rail is enclosed between drive wheel group and homing device;The anti-falling structure, by setting the homing device capable of applying force towards cable rail to drive wheel group, when the situation that drive wheel group occurs to separate from cable rail, homing device will generate force towards cable rail to drive wheel group, to drive drive wheel group to reposition to cable rail, ensure that drive wheel group can continue to run stably, to reduce the effect of derailment failure risk of drive wheel group, to avoid the purpose of drive wheel group derailment falling.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of anti-falling structure, in particular to an anti-falling structure of a logistics shuttle robot. BACKGROUND

[0002] With the rapid development of the logistics industry, novel transportation methods and equipment have emerged one after another. The transportation logistics method of low-altitude steel cable track is more time-saving and labor-saving than the traditional logistics method, and has more market competitiveness. For example, a logistics shuttle robot with intelligent distribution function, as a main carrier of track or cable logistics, only needs to set up a steel cable track between logistics distribution points, and then runs on the steel cable track through a driving wheel assembly installed in the logistics shuttle robot, so as to achieve the purpose of transporting goods between logistics distribution points.

[0003] Chinese patent application No. CN201721024025.0 discloses a cableway shuttle, which mainly installs an anti-falling arm on the side opposite to the boom of the driving device. When the driving wheel of the cableway shuttle deviates from the cableway during travel, the cableway is clamped between the driving wheel and the boom or between the driving wheel and the anti-falling arm, thereby achieving the purpose of preventing the cableway shuttle from falling.

[0004] Although the anti-falling arm structure of the above-mentioned cableway shuttle can effectively prevent the logistics shuttle robot from falling, the anti-falling solution of the anti-falling arm structure is essentially a remedial measure for the logistics shuttle robot after it has deviated from the track. Even if it is hung on the steel cable track, it cannot continue to run in practice, that is, it is already in a system failure state. Subsequent maintenance personnel need to carry out on-site remediation and place the logistics shuttle robot back on the track before it can continue to run, which makes the anti-falling effect of the existing anti-falling arm structure on the logistics shuttle robot still unsatisfactory. SUMMARY

[0005] In view of the deficiencies of the prior art, the present application provides an anti-falling structure of a logistics shuttle robot to solve the technical problem that the anti-falling effect of the existing anti-falling arm structure on the logistics shuttle robot is still unsatisfactory.

[0006] The technical solution of the present application is as follows:

[0007] An anti-falling structure of a logistics shuttle robot is applied to the logistics shuttle robot to prevent it from deviating from the steel cable track and falling. The logistics shuttle robot runs on the steel cable track through a driving wheel set therein. The anti-falling structure comprises at least one set of homing devices capable of applying a force towards the steel cable track to the driving wheel set. The homing devices are directly or indirectly installed in the logistics shuttle robot, and the steel cable track is surrounded between the driving wheel set and the homing devices.

[0008] The anti-falling structure of the logistics shuttle robot provided by the present application can exert an action force on the driving wheel set towards the cable rail through the homing device, so that when the driving wheel set is separated from the cable rail, the homing device can generate an action force on the driving wheel set towards the cable rail to drive the driving wheel set to re-homing on the cable rail, ensuring that the driving wheel set can continue to operate stably, thereby reducing the risk of derailment failure of the driving wheel set, and achieving the purpose of avoiding the derailment and falling of the driving wheel set. That is, the anti-falling effect of the logistics shuttle robot is improved in the form of reducing the risk of derailment, which can also ensure the effectiveness of the operation of the logistics shuttle robot and reduce the remedial cost of on-site homing.

[0009] Further, the homing device comprises a first homing rod which can be moved at least partially below the cable rail, and the first homing rod is movably arranged on the logistics shuttle robot.

[0010] Further, the anti-falling structure further comprises a first anti-separation rod which is rotatably arranged on the side of the support of the logistics shuttle robot away from the hoist arm, and the first anti-separation rod extends below the cable rail; and the first homing rod is arranged on the rod segment below the cable rail in the first anti-separation rod.

[0011] Further, the anti-falling structure further comprises a first fixing member arranged on the side of the support, and the first anti-separation rod is rotatably arranged on the first fixing member in the vertical direction; a first locking pin arranged along the radial direction of the first anti-separation rod is arranged on the top rod segment of the first anti-separation rod which penetrates the first fixing member; and a first locking head for limiting the first homing rod from leaving the position directly below the cable rail is arranged on the top of the first fixing member, and the first locking head is located within the rotation range of the first locking pin.

[0012] Further, a first inclined surface for releasing the limitation of the rotation amplitude of the first homing rod is arranged on the top of the first locking head, and the first inclined surface is arranged to be inclined from the bottom to the top in the direction away from the movement range of the first locking pin.

[0013] Further, the anti-falling structure further comprises a first locking spring, and a first expansion rod is arranged on the rod segment of the first anti-separation rod, and the first locking spring is sleeved on the first anti-separation rod and located between the first expansion rod and the first fixing member.

[0014] Further, at least one group of the homing devices is located on the rear side of the driving wheel set in the forward direction. Specifically, the homing devices are arranged in two groups, and the two groups of homing devices are arranged in sequence along the forward direction of the driving wheel set, and the driving wheel set is located between the two groups of homing devices.

[0015] Further, the anti-falling structure further comprises a first reset spring for providing an elastic reset force to rotation of the first anti-withdrawal rod, the first reset spring connecting the first anti-withdrawal rod in a radial direction of the first anti-withdrawal rod. The first reset spring is arranged on the first anti-withdrawal rod in two adjacent homing devices respectively; a first connecting part is arranged on a rod segment of the first extension rod located outside the first anti-withdrawal rod; the two ends of the first reset spring are arranged in the first connecting parts of two adjacent first extension rods respectively; when the end portions of the two first homing rods are both located directly below the cable rail, the two first connecting parts are arranged correspondingly.

[0016] Further, the homing device further comprises a second homing rod capable of moving at least partially to directly below the cable rail, the second homing rod being movably arranged on a side of the logistics shuttle robot away from the first homing rod.

[0017] Further, a wheel groove matched with the cable rail is arranged on the circumference of the driving wheel set; in a direction perpendicular to the axial direction of the cable rail, the minimum distance L between the axis of the driving wheel set and the homing device satisfies the relationship:

[0018] R1+d<L<R0+d

[0019] Wherein, R1 is the circumferential radius of the groove bottom of the wheel groove on the driving wheel set, R0 is the radius of the driving wheel set, and d is the diameter of the cable rail.

[0020] Further, a position point where the driving wheel set is located when it is separated from the cable rail is taken as a separation point, and a position point where the driving wheel set is located when it lands on the cable rail is taken as a landing point; in the axial direction of the cable rail, the distance between the axis of the first homing rod and the axis of the driving wheel set when the first homing rod moves to directly below the cable rail, and / or the distance between the axis of the second homing rod and the axis of the driving wheel set when the second homing rod moves to directly below the cable rail, is greater than or equal to the distance between the separation point and the landing point.

[0021] Further, the anti-falling structure further comprises a second anti-withdrawal rod, the second anti-withdrawal rod being rotatably arranged on a side of a support of the logistics shuttle robot close to the boom, and the second anti-withdrawal rod extending downward of the cable rail; the second homing rod is arranged on a rod segment of the second anti-withdrawal rod located below the cable rail; the first anti-withdrawal rod and the second anti-withdrawal rod are arranged correspondingly on the support.

[0022] Further, the anti-falling structure further comprises a second fixing member installed on the side of the support of the logistics shuttle robot, and a second anti-falling rod is rotatably installed on the second fixing member in the vertical direction; a first locking pin is arranged on the top rod segment of the second anti-falling rod penetrating the second fixing member and arranged in the radial direction of the second anti-falling rod; and a second locking head for limiting the rotation range of the second anti-falling rod is arranged on the top of the second fixing member, and the second locking head is located in the rotation range of the second locking pin.

[0023] Further, a second inclined surface for releasing the limitation of the rotation range of the second anti-falling rod is arranged on the top of the second locking head, and the second inclined surface is arranged to be inclined from bottom to top and away from the movement range of the second locking pin.

[0024] Further, the anti-falling structure further comprises a second locking spring, and a second expansion rod is arranged on the rod segment of the second anti-falling rod, the second locking spring is sleeved on the second anti-falling rod, and located between the second expansion rod and the second fixing member.

[0025] Further, the anti-falling structure further comprises a second reset spring for providing elastic reset force to the rotation of the second anti-falling rod, and the second reset spring is connected to the second anti-falling rod in the radial direction of the second anti-falling rod.

[0026] Further, the second anti-falling rod is arranged in two, the second reset spring is arranged between any two adjacent second anti-falling rods in the radial direction of the second anti-falling rod; a second connecting portion is arranged on the rod segment outside the second anti-falling rod in the second expansion rod; the two ends of the second reset spring are respectively arranged on the second connecting portions of the two adjacent first expansion rods; when the ends of the two second anti-falling rods are located directly below the steel cable rail, the two second connecting portions are arranged correspondingly.

[0027] Further, the first fixing member and / or the second fixing member has a through hole penetrating the length of the body, and the first anti-falling rod and / or the second anti-falling rod is rotatably installed in the through hole corresponding thereto by a bearing.

[0028] Further, the first fixing member and / or the second fixing member has an open side slot on the side, and the first anti-falling rod and / or the second anti-falling rod is rotatably installed in the open side slot corresponding thereto by a bearing.

[0029] Further, the first fixing member and / or the second fixing member comprises a first fixing clamp and a second fixing clamp capable of being assembled with the first fixing clamp, the first fixing clamp and the second fixing clamp are both provided with an assembly groove, when the first fixing clamp is assembled with the second fixing clamp, the two assembly grooves are correspondingly arranged, and the first anti-falling rod and / or the second anti-falling rod is / are rotatably assembled in the two corresponding assembly grooves through bearings.

[0030] Further, a first dismounting groove capable of accommodating the distal end of the first locking pin is formed on the first locking head, and when the first locking pin is located on the first dismounting groove, the first homing rod is configured to be capable of being away from the front of the driving wheel set.

[0031] Further, a second dismounting groove capable of accommodating the end of the second locking pin is formed on the second locking head, and when the end of the second locking pin is accommodated in the second dismounting groove, the second homing rod is configured to be capable of being away from the front of the driving wheel set.

[0032] Further, the first homing rod and / or the second homing rod is / are provided with a guide wheel assembly.

[0033] In summary, the anti-falling structure of the logistics shuttle robot provided by the application has the following technical effects:

[0034] 1) The anti-falling structure of the logistics shuttle robot provided by the application can apply a force towards the steel cable track to the driving wheel set through the homing device, when the driving wheel set is separated from the steel cable track, the homing device can generate a force towards the steel cable track to the driving wheel set to drive the driving wheel set to re-homing on the steel cable track, so that the driving wheel set can continue to run stably, thereby reducing the risk of derailment of the driving wheel set, and avoiding the driving wheel set from derailing and falling, and reducing the remedial cost of on-site homing.

[0035] 2) At least one set of homing devices is arranged behind the driving direction of the driving wheel set, which can ensure that the homing device can apply a force towards the steel cable track to the driving wheel set when the driving wheel set passes through the support structure, thereby reducing the risk of derailment of the driving wheel set during operation, and further improving the anti-falling effect.

[0036] 3) The homing devices are arranged on both sides of the driving wheel set in the front-rear direction, so that at least one set of homing devices can be in a normal anti-derailment working state when the logistics shuttle robot runs back and forth on the steel cable track, thereby further improving the anti-falling effect.

[0037] 4) The first return spring can provide sufficient elastic return force to the first anti-disengagement rod to avoid reducing the return effect of the first anti-disengagement rod due to the small extension range of the first return spring, and to ensure the stability of the return structure. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the overall structure of the fall protection structure of a logistics shuttle robot from a first-person perspective.

[0039] Figure 2 This is a schematic diagram of the anti-fall structure of the logistics shuttle robot from a second-person perspective;

[0040] Figure 3 This is a schematic diagram of the anti-fall structure of the logistics shuttle robot from a third-person perspective;

[0041] Figure 4 This is a schematic diagram of the operating status of the drive wheel assembly before it passes the overlapping support tower.

[0042] Figure 5 for Figure 3 A magnified view of part A in the middle;

[0043] Figure 6 for Figure 3 A magnified view of part B in the middle section;

[0044] Figure 7 This is a schematic diagram showing the positional relationship between the first anti-detachment rod and the first fixing component when the anti-falling state is in progress.

[0045] Figure 8 This is a schematic diagram showing the positional relationship between the second anti-detachment rod and the second fixing component when the anti-falling state is in progress.

[0046] Figure 9 This is a schematic diagram showing the state when the surrounding space is opened up;

[0047] Figure 10 A schematic diagram showing the positional relationship between the first anti-detachment rod and the first fixing member when the end of the first locking pin is accommodated in the first loading and unloading groove;

[0048] Figure 11 A schematic diagram showing the positional relationship between the second anti-detachment rod and the second fixing member when the end of the second locking pin is accommodated in the second loading and unloading groove;

[0049] Figure 12 A simplified diagram showing the drive wheel assembly moving to the starting point;

[0050] Figure 13 A simplified diagram illustrating the process of the drive wheel assembly jumping up and landing at the landing point after passing the take-off point;

[0051] Figure 14A schematic diagram of the running cooperation between the steel cable rail and the wheel groove in the normal running process;

[0052] Figure 15 A simplified schematic diagram of the running cooperation between the steel cable rail and the wheel groove in the normal running process;

[0053] Figure 16 A schematic diagram of the running cooperation between the steel cable rail and the wheel groove when the first and second homing rods are aligned;

[0054] Figure 17 A schematic diagram of the running state of the drive wheel set before passing through the non-contact support tower;

[0055] Figure 18 An exploded schematic diagram of the anti-disengagement rod and the fixing member in the embodiment;

[0056] Figure 19 An exploded schematic diagram between the anti-disengagement rod and the fixing member with an open side groove;

[0057] Figure 20 An exploded schematic diagram between the anti-disengagement rod and the split fixing member.

[0058] In the drawings, the reference signs have the following meanings:

[0059] 1, logistics shuttle robot; 2, drive wheel set; 201, wheel groove; 3, homing device; 4, first anti-disengagement rod; 41, first homing rod; 42, first locking pin; 43, first expansion rod; 431, first connecting part; 5, steel cable rail; 6, boom; 7, second anti-disengagement rod; 71, second homing rod; 72, second locking pin; 73, second expansion rod; 731, second connecting part; 8, first fixing member; 81, first locking head; 82, first inclined surface; 83, first loading and unloading groove; 9, second fixing member; 91, second locking head; 92, second inclined surface; 93, second loading and unloading groove; 10, first locking spring; 11, second locking spring; 12, first return spring; 13, second return spring; 14, guide wheel assembly; 15, surrounding space; 16, support frame; 17, support; 18, hard rail; 181, extension section; 19, obstacle structure; 20, through hole; 21, bearing; 22, open side groove; 23, first fixing clamp; 24, second fixing clamp; 25, assembly groove. DETAILED DESCRIPTION

[0060] In order to better understand and implement, the technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application.

[0061] In the description of the present application, it should be noted that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0062] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terminology used in the specification of the present application is only for the purpose of describing specific embodiments and is not intended to limit the present application.

[0063] Referring to Figures 1 to 20 The present embodiment discloses a fall-preventing structure of a logistics shuttle robot, which is applied to the logistics shuttle robot 1 to prevent it from derailing and falling off the cable rail 5, so as to ensure the operation safety and effectiveness of the logistics shuttle robot 1. In order to clearly illustrate the specific scheme of the present embodiment, the logistics shuttle robot 1 at least includes a driving wheel set 2 and a support 17, and the driving wheel set 2 is rotatably arranged in the support 17. As for other structures of the logistics shuttle robot 1, such as a delivery box, a driving motor for driving the driving wheel set 2 to operate, and a circuit controller, and other detailed structures are prior art, and thus the structure is not shown in detail in the present embodiment. Specifically, the fall-preventing structure includes at least one set of homing device 3 capable of applying a force to the driving wheel set 2 towards the cable rail 5, and the homing device 3 is capable of at least applying a force to the driving wheel set 2 towards the cable rail 5 when the driving wheel set 2 is upwardly separated from the cable rail 5. The homing device 3 is directly or indirectly arranged on the logistics shuttle robot 1, and the cable rail 5 is surrounded between the driving wheel set 2 and the homing device 3.

[0064] The fall-preventing structure of the logistics shuttle robot provided by the present embodiment can apply a force to the driving wheel set 2 towards the cable rail 5 through the homing device 3. When the driving wheel set 2 is separated from the cable rail 5, the homing device 3 generates a force to the driving wheel set 2 towards the cable rail 5 to drive the driving wheel set 2 to rehome to the cable rail 5, so as to ensure that the driving wheel set 2 can continue to operate stably, thereby reducing the risk of derailment failure of the driving wheel set 2, and achieving the purpose of avoiding the driving wheel set 2 from derailing and falling off. That is, the fall-preventing effect of the logistics shuttle robot is improved in the form of reducing the risk of derailment, and the operation effectiveness of the logistics shuttle robot is also ensured, and the on-site repositioning remediation cost is reduced.

[0065] Preferably, referring to Figure 1 , Figure 2 , Figure 3 andFigure 7 The homing device 3 comprises a first homing rod 41 which can be moved at least to the position directly below the cable rail 5, and the first homing rod 41 is movably arranged on the support 17 of the logistics shuttle robot 1. Since in the normal operation process, the drive wheel set 2 is running on the top of the cable rail 5, and in the common derailment situation, the drive wheel set 2 is mostly in the situation of upwardly derailing out of the cable rail 5. Therefore, the first homing rod 41 in the homing device 3 is designed to be able to move at least to the position directly below the cable rail 5, and in the normal operation process, at least part of the first homing rod 41 is controlled to be in the position directly below the cable rail 5. In this way, when the drive wheel set 2 is in the situation of upwardly derailing out of the cable rail 5, the first homing rod 41 will move upwardly along with the drive wheel set 2, but since the cable rail 5 is between the drive wheel set 2 and the first homing rod 41 at this time, the upward movement of the first homing rod 41 will be inevitably blocked by the cable rail 5, so that the homing device 3 can achieve the purpose of applying a force to the drive wheel set 2 towards the cable rail 5 under the blocking action of the cable rail 5, thereby enabling the homing device 3 to achieve the purpose of pulling the drive wheel set 2 back to the cable rail 5, so as to reduce the risk of derailment failure of the drive wheel set 2.

[0066] Preferably, the anti-falling structure further comprises a first anti-derailment rod 4 which is rotatably arranged on the side of the support 17 of the logistics shuttle robot 1 away from the boom 6, and the first anti-derailment rod 4 extends downwardly to the position below the cable rail 5. In this way, when the drive wheel set 2 is in the situation of derailment failure, the first anti-derailment rod 4 and the boom 6 respectively arranged on the two sides of the support 17 can also block and hold the drive wheel set 2, so as to achieve the purpose of preventing the logistics shuttle robot 1 from falling; specifically, the first homing rod 41 is arranged on the rod segment of the first anti-derailment rod 4 below the cable rail 5, and the first homing rod 41 has an angle greater than zero with the axis direction of the first anti-derailment rod 4, and specifically, the angle between the axis direction of the first homing rod 41 and the axis direction of the first anti-derailment rod 4 is preferably 90°. By arranging the first homing rod 41 on the rod segment of the first anti-derailment rod 4 below the cable rail 5, and rotatably arranging the first anti-derailment rod 4 on the support 17, only by driving the first anti-derailment rod 4 to rotate, the first homing rod 41 can be moved to the position directly below the cable rail 5.

[0067] In addition, in some special situations, for example, when the drive wheel set 2 is separated from the cable rail 5 and is held on the first anti-derailment rod 4, if at this time the logistics shuttle robot 1 swings with a large amplitude, the cable rail 5 will still be separated from the bottom of the first anti-derailment rod 4, which will cause the problem of derailment and falling of the logistics shuttle robot 1.

[0068] Therefore, in the embodiment, the first homing rod 41 is directly arranged on the rod segment of the first anti-falling rod 4 below the cable rail 5, specifically, the first homing rod 41 is arranged at the bottom of the first anti-falling rod 4. Since there is an included angle between the first homing rod 41 and the first anti-falling rod 4, and the first homing rod 41 is arranged to be at least partially below the cable rail 5, that is, the first homing rod 41 is arranged to extend towards the direction close to the cable rail 5 below, so that the first homing rod 41 can play the role of a bent rod of the first anti-falling rod 4. In this way, the first homing rod 41, which is equivalent to the bent rod of the first anti-falling rod 4, can further block the cable rail 5 that is separated from the driving wheel set 2 and is at the bottom of the first anti-falling rod 4, so as to avoid the problem of the trolley robot 1 falling off the track due to the cable rail 5 falling off the bottom of the first anti-falling rod 4, thereby improving the anti-falling effect of the trolley robot 1 and ensuring the safe operation of the equipment.

[0069] Further, the first anti-falling rod 4 is arranged on the side of the bracket 17 away from the boom 6, which enables the boom 6, the first homing rod 41 and the first anti-falling rod 4 to surround the cable rail 5, that is, to form a surrounding space 15, and the cable rail 5 is limited in the surrounding space 15. When the separation problem of the driving wheel set 2 occurs, the relative movement of the cable rail 5 can only be limited in the surrounding space 15, so as to achieve the purpose of preventing falling off in all directions.

[0070] In the embodiment, the first anti-falling rod 4 and the first homing rod 41 are integrally formed, that is, in actual application, the first homing rod 41 can be formed by bending part of the rod segment of the first anti-falling rod 4, so as to simplify the structure and reduce the production cost. Of course, in other embodiments, the first anti-falling rod 4 can be designed to be fixedly connected with the bracket 17, and at this time, the first homing rod 41 is designed to be capable of rotating relative to the first anti-falling rod 4. In this way, directly driving the first homing rod 41 to rotate can also achieve the purpose that at least part of the first homing rod 41 can be operated to be below the cable rail 5.

[0071] Preferably, referring to Figure 1 , Figure 3 and Figure 7 , the anti-falling structure further comprises a first fixing member 8 arranged on the side of the bracket 17 of the trolley robot 1, and the first anti-falling rod 4 is rotatably arranged on the first fixing member 8 in the vertical direction, so that the first anti-falling rod 4 can rotate around its own axis, thereby achieving the purpose of being capable of driving the first homing rod 41 to rotate.

[0072] Referring to Figure 3 and Figure 5The first anti-derailment rod 4 has a first locking pin 42 arranged radially along its top section extending beyond the first fixing member 8. The top of the first fixing member 8 has a first locking head 81 for limiting the first return rod 41 from moving directly below the cable rail 5. The first locking head 81 is located within the rotation range of the first locking pin 42. When the drive wheel assembly 2 is running normally on the cable rail 5, the first return rod 41 is at least partially located directly below the cable rail 5. The design of the first locking pin 42 at the top of the first anti-derailment rod 4 and the corresponding first locking head 81 at the top of the first fixing member 8, with the first locking head 81 positioned within the movement range of the first locking pin 42, ensures that, at least without external force acting on the first return rod 41, the first locking head 81 can effectively lock the movement range of the first locking pin 42. In this way, by using the locking effect of the first locking head 81 on the rotation range of the first locking pin 42, the purpose of limiting the first return rod 41 from leaving the cable rail 5 can be achieved. This ensures that during the normal operation of the drive wheel assembly 2 on the cable rail 5, at least a portion of the first return rod 41 can always be directly below the cable rail 5, thereby enabling the return device 3 to achieve stable and continuous anti-fall protection for the drive wheel assembly 2, thus improving the continuity of safe operation of the equipment.

[0073] See Figure 4 Since the logistics shuttle transportation system itself is a suspended transportation system, and the steel cable rail 5 is mainly a flexible steel cable structure, it can only be used as the running track of the logistics shuttle robot 1 after a pre-tensioning force is applied to it and it is straightened.

[0074] In practical applications, logistics shuttle transportation systems typically use tower supports to provide pre-tension to the cable rails 5 and to achieve suspended installation. In some exemplary tower support structures, the general pre-tensioning structure involves straightening and locking both ends of the cable rail 5 onto the support frames 16 of two adjacent towers to achieve the purpose of pre-tensioning the cable rail 5. Then, the ends of other cable rails that connect to the cable rail 5 are straightened and locked onto adjacent support frames 16, and the running space between the ends of the two cable rails is transitioned and connected via connecting rigid rails 18 on the tower to achieve the purpose of continuous transportation.

[0075] During normal operation, the drive wheel assembly 2 runs on top of the cable rail 5, while the first return rod 41 is partially located directly below the cable rail 5. Therefore, when the drive wheel assembly 2 runs and passes over the section of the cable rail 5 at the top of the support frame 16, the support frame 16 will interfere with the first return rod 41, thus affecting the normal operation of the drive wheel assembly 2.

[0076] Therefore, in this embodiment, refer to Figure 1 , Figure 3and Figure 5 The top of the first locking head 81 is provided with a first inclined surface 82 for releasing the rotation amplitude limitation of the first homing rod 41. The first inclined surface 82 is arranged to be inclined from bottom to top in a direction away from the movement range of the first locking pin 42. When the driving wheel set 2 runs through the support frame 16, the first homing rod 41 will be in contact or impact with the support frame 16. At this moment, the first homing rod 41 will be moved upward relative to the first fixed part 8 under the action of the running jerk, so that the first locking pin 42 can be moved upward at least to the bottom of the first inclined surface 82, so as to release the rotation limitation of the first homing rod 41. After the driving wheel set 2 continues to run, the first homing rod 41 will be rotated under the pushing action of the support frame 16, and the first locking pin 42 will also slide and rotate upward on the surface of the first inclined surface 82. At the same time, the first homing rod 41 connected with the first anti-falling rod 4 will also rotate naturally. In this way, the first homing rod 41 can avoid the support frame 16.

[0077] If the driving wheel set 2 jumps upward and the first homing rod 41 in the normal running state is not subjected to the pushing or impact force (i.e. in the normal running state), the jumping driving wheel set 2 will drive the first homing rod 41 to move upward, so that the first homing rod 41 abuts against the cable rail 5, so that the cable rail 5 can exert a downward force on the first homing rod 41 to achieve the purpose of exerting a force on the driving wheel set 2 and returning it to the cable rail 5. In this process, the first locking pin 42 at the top of the first anti-falling rod 4 will be tightly attached to the structure surface at the top of the first fixed part 8 under the transmission of the downward force from the cable rail 5, so that the rotation of the first locking pin 42 is locked by the first locking head 81. In this way, the purpose of ensuring that the first homing rod 41 in the normal running state can stably contact the cable rail 5 when the driving wheel set 2 jumps upward can be achieved, so as to ensure the contact stability of the cable rail 5 and the first homing rod 41. That is, the first locking head 81 also plays a role in stabilizing the anti-derailing function of the first homing rod 41.

[0078] Preferably, the anti-falling structure further comprises a first locking spring 10, the rod section of the first anti-withdrawal rod 4 is provided with a first expanded rod 43, the first locking spring 10 is sleeved on the first anti-withdrawal rod 4 and located between the first expanded rod 43 and the first fixing part 8. After the driving wheel set 2 runs through the support frame 16, under the elastic force of the first locking spring 10, the first anti-withdrawal rod 4 drives the first locking pin 42 to slide downward on the surface of the first inclined surface 82 to reverse rotation, and falls to the top of the first fixing part 8, so that the first homing rod 41 falls to the bottom side of the first locking head 81, achieving the purpose of re-homing the first homing rod 41, so that the first homing rod 41 is re-limited to rotate below the steel cable rail 5, to ensure that at least part of the first homing rod 41 can always be below the steel cable rail 5 during the normal operation of the driving wheel set 2 on the steel cable rail 5, to improve the continuity of safe operation of the equipment.

[0079] In some embodiments, referring to Figure 4 , during the switching operation of the driving wheel set 2 between the steel cable rail 5 and the connecting hard rail 18, due to the existence of the docking transition error between the connecting hard rail 18 and the steel cable rail 5, the driving wheel set 2 is prone to running jump during this switching process, and the connecting ends of the connecting hard rail 18 and the steel cable rail 5 are each provided with a corresponding support frame 16, and the first homing rod 41 is pushed to the side of the support frame 16 during passing through the support frame 16, that is, during this process of passing through the support frame 16, the first homing rod 41 is not below the steel cable rail 5 (but is on the side of the steel cable rail 5 below, which is the support frame 16 connected thereto, and at this time, the end of the first homing rod 41 abuts against the side of the support frame 16, if the support frame 16 is a plate structure, the end of the first homing rod 41 will be in abutment with the side plate of the support frame 16, in this embodiment, the contact point between the first and second homing rods when the support plate 16 pushes them is the temporary failure point, as indicated by g) in Figure 4 . The first homing rod 41 cannot be below the steel cable rail 5, which is not conducive to the situation that the driving wheel set 2 jumps upward during operation, which easily makes the homing device 3 not able to better reduce the derailment failure risk of the driving wheel set 2 during the transition switching operation of the driving wheel set 2.

[0080] To this end, specifically, referring to Figure 1 and Figure 2 , in this embodiment, at least one set of homing devices 3 is located on the rear side of the driving wheel set 2 in the forward direction, wherein Figure 1 and 2The front arrow represents the forward direction of the example driving wheel set 2, and the rear arrow represents the example direction opposite to the forward direction of the driving wheel set 2. In this way, at least the homing device 3 behind the driving wheel set 2 can be ensured not to run through the support frame 16 during the driving wheel set 2 passing through the support frame 16, so that the homing device 3 is still in the normal anti-derailing working state, that is, at least the homing device 3 can still apply a force to the driving wheel set 2 towards the cable rail 5 to reduce the risk of derailing of the driving wheel set 2 during operation, thereby achieving the purpose of further improving the anti-falling effect.

[0081] More preferably, the homing device 3 is provided in two groups, and the two groups of homing devices 3 are arranged in sequence along the forward direction of the driving wheel set 2, and the driving wheel set 2 is located between the two groups of homing devices 3. Generally, in order to improve the logistics transportation efficiency and reduce the construction cost, the logistics shuttle robot 1 is designed to be able to run back and forth on the cable rail 5. Therefore, the homing device 3 is arranged on both sides of the driving wheel set 2 in the front-rear direction, so that at least one group of homing devices 3 can be in the normal anti-derailing working state when the logistics shuttle robot 1 runs back and forth on the cable rail 5, thereby achieving the purpose of further improving the anti-falling effect.

[0082] Generally, in reality, as shown in Figure 4 , in order to improve the smoothness and stability during the connection and transition between the cable rail 5 and the connecting hard rail 18, the end of the connecting hard rail 18 is designed to be able to lap over the extension section 181 at the end of the cable rail 5, and the length of the extension section 181 is set to be at least able to completely cover the track section of the cable rail 5 on which the support plate 16 is located, so as to ensure better connection stability, that is, in this lapping transition connection tower structure, the support frame 16 is below the extension section 181. As known from the foregoing, during this switching process, the situation that the driving wheel set 2 jumps off the track often occurs at the switching moment between the end of the cable rail 5 and the extension section 181 of the connecting hard rail 18 (i.e., point a in Figure 4 ), and at the same time, the support frame 16 is a failure structure that causes the first and second homing rods to be unable to be in the normal anti-derailing state (i.e., the support frame 16 will push the homing rods to the side of the cable rail 5 to cause the anti-derailing effect of the homing rods to be temporarily disabled, i.e., point g in Figure 4 where the support frame 16 pushes the homing rods), so that in this structure, if the driving wheel set 2 is in the derailing running state due to passing through the end of the connecting hard rail 18, and if the homing rod behind the driving wheel set 2 at this time touches the support frame 16, the problem that the homing device 3 cannot well protect the driving wheel set 2 from derailing will occur.

[0083] Therefore, in the present embodiment, specifically, referring toFigure 4 , Figure 12 and Figure 13 , the position point where the drive wheel set 2 is located when it is separated from the cable rail 5 is the separation point a, and the position point where the drive wheel set 2 is located when it lands on the cable rail 5 is the landing point b; along the axial direction of the cable rail 5, the distance S0 between the axis of the first homing rod 41 and the axis of the drive wheel set 2 when the first homing rod 41 moves directly below the cable rail 5, and / or the distance between the axis of the second homing rod 71 and the axis of the drive wheel set 2 when the second homing rod 71 moves directly below the cable rail 5, is greater than or equal to the distance S1 between the separation point a and the landing point b, that is, S0≥S1, in some embodiments, this can also be understood as the minimum distance between the homing device 3 and the axis of the drive wheel set 2 in the axial direction of the cable rail 5 is greater than or equal to the distance between the separation point a and the landing point b.

[0084] Since the main structure of the drive wheel set 2 is a roller structure, during normal operation, the distance S0 between the axis of the first homing rod 41 and the axis of the drive wheel set 2 along the axial direction of the cable rail 5 will be equal to the distance between the axis of the first homing rod 41 and the instantaneous contact point of the drive wheel set 2 on the cable rail 5, so when the drive wheel set 2 is in the process of transition switching between the cable rail 5 and the connecting hard rail 18, the first homing rod 41 on the homing device 3 in the rear position is in the normal anti-derailment state, and when the drive wheel set 2 is momentarily separated from the cable rail 5, the distance S1 between the separation point a and the landing point b is less than or equal to the distance between the axis of the first homing rod 41 in the rear position and the separation point a along the axial direction of the cable rail 5 (i.e., as shown in Figure 12 and Figure 13 , the drive wheel set 2 jumps from the take-off point a and lands at the landing point b, the first homing rod 41 in the rear position has not moved to the take-off point a), and since during the transition switching, the end of the extended section 181 of the connecting hard rail 18 causes the drive wheel set 2 to jump off the rail, and the failure structure that causes the first and second homing rods to not be in the normal anti-derailment state during operation is the support frame 16, and the existing tower structure has an extended section 181 that is arranged to at least completely cover the rail section of the cable rail 5 where the top of the support plate 16 is located, that is, the end of the extended section 181 (point a) is behind the failure point (point g) of the support frame 16, or the end of the extended section 181 (point a) is directly above the failure point (point g) of the support frame 16, so that during the operation of the drive wheel set 2 jumping off the rail, the first homing rod 41 or the second homing rod 71 in the rear position is always in the normal anti-derailment state (i.e., refer to Figure 4Because the point a is located behind the point g or the point a is aligned with the point g, when the first homing rod 41 runs to the point a directly below, because S0≥S1, the driving wheel set 2 has already landed on the cable rail 5 or has normally run on the cable rail 5 for a distance, that is, the driving wheel set 2 will at least land on the cable rail 5 before the first homing rod 41 fails, thereby ensuring that the first homing rod 41 at the rear position is always in a state of being able to exert a force on the driving wheel set 2 deviating from the cable rail 5 towards the cable rail 5), so that the first homing rod 41 can achieve the purpose of further improving the anti-derailment effect, that is, to ensure that at least one set of homing devices 3 is in a normal anti-derailment working state when the driving wheel set 2 jumps up and derails.

[0085] From the above, it is obvious that at least one set of homing devices 3 is arranged behind the driving wheel set 2, and when the driving wheel set 2 jumps up and derails during the process of passing through the support tower, the minimum distance between the homing device 3 and the support frame 16 in the support tower is set to be greater than or equal to the distance S1 between the take-off point a and the landing point b. Without doubt, the homing device 3 will be able to very well reduce the risk of derailment failure of the driving wheel set 2, thereby achieving the purpose of improving the anti-falling effect of the logistics shuttle robot 1.

[0086] Of course, in actuality, in addition to the contact type structure form of the extension section 181 lapping the end of the cable rail 5, a non-contact type switching transition structure of the cable rail 5 and the connecting hard rail 18 can also be used in the transition switching structure between the cable rail 5 and the connecting hard rail 18. Figure 17 As shown, the end of the connecting hard rail 18 is arranged near the end of the cable rail 5 and on the extension line of the cable rail 5. In the support tower of this transition switching structure, because the ends of the cable rail 5 and the connecting hard rail 18 are both arranged with support frames 16, and the support frames 16 also have a certain structural length, during the switching transition process, although the situation of the driving wheel set 2 jumping up and derailing still occurs at the switching moment between the end of the cable rail 5 and the end of the connecting hard rail 18 (that is, the point a in Figure 17 ), in fact, when the driving wheel set 2 is switching, the driving wheel set 2 has already traveled a distance on the top of one of the support frames 16 (that is, the take-off point a often appears between two support frames 16 during switching). From the above, it can be known that the first homing rod 41 cannot well reduce the risk of derailment failure of the driving wheel set 2 during the process of contacting the support frame 16 due to the pushing action of the support frame 16.

[0087] Therefore, in the present embodiment, reference is made to Figure 17More specifically, the distance restriction scheme is that, during the switching process, if the driving wheel set 2 jumps off the cable rail 5, the minimum distance S2 between the axis of the first homing rod 41 and the nearest support frame 16 is greater than or equal to the distance S3 between the failure point g and the landing point b, i.e. S2≥S3. In this way, it is obvious that the anti-derailment effect can be achieved.

[0088] Of course, in some other cases, the driving wheel set 2 may not only jump off the cable rail 5 during the switching process between the cable rail 5 and the hard rail 18, but also in other cases, such as Figure 12 or Figure 13 As shown, for example, when the driving wheel set 2 encounters some obstacle structures 19 (the obstacle structures 19 may even be the case that the outer diameter of the cable rail 5 changes, or some objects hanging on the cable rail 5 due to environmental factors) contacting the outer surface of the cable rail 5, when the driving wheel set 2 passes through these obstacle structures 19, the driving wheel set 2 may also jump off the cable rail 5, and if the obstacle structures 19 have some structures extending downward, it will also interfere with the normal anti-derailment state of the first and second homing rods.

[0089] Obviously, if the failure point of the obstacle structures 19 interfering with the normal anti-derailment state of the first and second homing rods is in front of the jumping-off point or is level in the vertical direction, similar to the position restriction scheme between the homing device 3 and the driving wheel set when the driving wheel set 2 passes through the support tower of the lap joint structure, i.e. the distance between the axis of the first and second homing rods and the axis of the driving wheel set 2 in the axial direction of the cable rail 5 is greater than or equal to the distance between the take-off point a and the landing point b, it can ensure that at least one set of homing devices 3 is in the normal anti-derailment state; similarly, if the failure point of the obstacle structures 19 interfering with the normal anti-derailment state of the first and second homing rods is behind the jumping-off point, similar to the position restriction scheme between the homing device 3 and the driving wheel set 2 when the driving wheel set 2 passes through the support tower of the non-contact structure, the minimum distance between the homing device 3 and the obstacle structures 19 is set to be greater than or equal to the distance between the failure point g and the landing point b, which can reduce the risk of derailment of the driving wheel set 2, and further improve the anti-falling effect of the logistics shuttle robot 1.

[0090] In some more preferred embodiments, on the basis of the structure of the first locking spring 10 and the first locking head 81 jointly restricting the rotation of the first homing rod 41, referring to Figure 1 and Figure 4, the anti-falling structure further comprises a first reset spring 12 for providing an elastic reset force to the rotation of the first anti-extraction rod 4. Specifically, the elastic reset force can be understood as the force applied by the first reset spring 12 on the first anti-extraction rod 4 to drive it to return to the original state before rotation when the first anti-extraction rod 4 rotates. The first reset spring 12 is connected to the first anti-extraction rod 4 along the radial direction of the first anti-extraction rod 4. In the operation process, when the first anti-extraction rod 4 is rotated by the first reset rod 41 being pushed by the support frame 16, the first reset spring 12 will be stretched due to the rotation of the first anti-extraction rod 4, thus generating an action force on the first anti-extraction rod 4 to drive the first anti-extraction rod 4 to return to the original state. When the first reset rod 41 passes through the support frame 16, the action force of the support frame 16 on the first anti-extraction rod 4 disappears, and the first reset rod 41 will reset under the action of the elastic reset force of the first reset spring 12. Combined with the resetting effect of the first locking spring 10 on the first reset rod 41, the purpose of further driving the first reset rod 41 to smoothly reset is achieved, so as to ensure that the first reset rod 41 can be stably reset right below the driving wheel set 2 to continue to protect the driving wheel set 2 from falling.

[0091] Specifically, the two ends of the first reset spring 12 are arranged on the first anti-extraction rod 4 in the two adjacent resetters 3 respectively; the first extension rod 43 has a first connecting portion 431 arranged on the rod segment outside the first anti-extraction rod 4; the two ends of the first reset spring 12 are respectively arranged on the first connecting portions 431 of the two adjacent first extension rods 43; when the ends of the two first reset rods 41 are both right below the steel cable rail 5, the two first connecting portions 431 are arranged correspondingly. By designing the first extension rod 43 on the rod segment of the first anti-extraction rod 4 and connecting the first reset spring 12 on the rod segment of the first extension rod 43, when the first anti-extraction rod 4 rotates, the displacement of the first connecting portion 431 will relatively increase (i.e. the first connecting portion 431 on the first extension rod 43 can increase the radius of rotation) because the first connecting portion 431 is located outside the first anti-extraction rod 4. Since the ends of the first reset spring 12 are connected to the first connecting portion 431, it is obvious that the increase of the rotational displacement of the first connecting portion 431 is conducive to improving the stretching amplitude of the first reset spring 12, which can ensure that the first reset spring 12 can provide sufficient elastic reset force to the first anti-extraction rod 4, so as to avoid reducing the resetting effect of the first anti-extraction rod 4 due to the small stretching amplitude of the first reset spring 12, and ensure the stability of the reset structure. In addition, one first reset spring 12 can simultaneously apply elastic reset force to two adjacent first anti-extraction rods 4, which simplifies the structure and is conducive to ensuring the structural stability of the two adjacent first anti-extraction rods 4 in the normal anti-extraction state, and has the effect of linkage reset.

[0092] Preferably,Figure 1 、 Figure 2 and Figure 8 The homing device 3 further comprises a second homing rod 71 which can be moved at least partially below the cable rail 5, and the second homing rod 71 is movably arranged on the side of the support 17 of the logistics shuttle robot 1 which is away from the first homing rod 41. In combination with the anti-derailing effect of the first homing rod 41, the homing device 3 can further improve the structural stability of the anti-derailing effect.

[0093] Preferably, referring to Figure 1 、 Figure 2 and Figure 8 , the anti-falling structure further comprises a second anti-derailing rod 7 which is rotatably arranged on the side of the support 17 of the logistics shuttle robot 1 which is close to the boom 6, and the second anti-derailing rod 7 extends downward below the cable rail 5; the second homing rod 71 is arranged on the rod segment of the second anti-derailing rod 7 which is below the cable rail 5; the first anti-derailing rod 4 and the second anti-derailing rod 7 are arranged in correspondence on the support 17, and in combination with the hanging effect of the first anti-derailing rod 4 after the derailment failure of the drive wheel set 2, the anti-falling purpose of the logistics shuttle robot 1 is achieved. Similarly, the second anti-derailing rod 7 is arranged on the other side of the drive wheel set 2 which is away from the first anti-derailing rod 4, which undoubtedly also has a hanging effect after the derailment failure of the drive wheel set 2, so as to achieve the anti-falling purpose of the logistics shuttle robot 1.

[0094] Moreover, arranging the first anti-derailing rod 4 and the second anti-derailing rod 7 on the two sides of the support 17 can have a bilateral hanging effect of the drive wheel set 2, so as to further improve the anti-falling effect of the logistics shuttle robot 1. In addition, the second anti-derailing rod 7 is specifically arranged between the boom 6 and the drive wheel set 2, which is conducive to reducing the derailment movement space of the drive wheel set 2 and protecting the boom 6 from being damaged by colliding with the cable rail 5.

[0095] In some embodiments, in order to improve the running stability of the drive wheel set 2 on the cable rail 5, a wheel groove 201 which cooperates with the cable rail 5 is arranged in the circumferential direction of the drive wheel set 2, and the recessed drive cooperation groove structure can improve the running stability. Since the first homing rod 41 extends in the direction close to the boom 6 in the normal running state, and the second homing rod 71 extends in the direction close to the first anti-derailing rod 4, the first homing rod 41 and the second homing rod 71 can be arranged in the opposite direction. In this way, the wheel groove 201, the first anti-derailing rod 4, the first homing rod 41, the second homing rod 71 and the second anti-derailing rod 7 can surround the cable rail 5 in a small range, i.e. form a surrounding space 15, and the cable rail 5 is limited in the surrounding space 15. When the cable rail 5 derails, the relative movement of the cable rail 5 can also be limited in the surrounding space 15, so as to achieve the purpose of preventing falling in all directions in the circumferential direction.

[0096] Specifically, referring to Figure 1 and Figure 14 , the minimum distance L between the axis of the drive wheel set 2 and the homing device 3 in the direction perpendicular to the axial direction of the cable rail 5 satisfies the following relationship:

[0097] R1+d<L<R0+d

[0098] wherein R1 is the circumferential radius of the groove bottom of the wheel groove 201 on the drive wheel set 2, R0 is the radius of the drive wheel set 2, and d is the diameter of the cable rail 5. That is, the minimum distance L between the axis of the drive wheel set 2 and the homing device 3 in the direction perpendicular to the axial direction of the cable rail 5 is greater than the sum of the diameter of the cable rail 5 and the circumferential radius R1 of the groove bottom of the wheel groove 201 on the drive wheel set 2, and is less than the sum of the diameter of the cable rail 5 and the radius R0 of the drive wheel set 2.

[0099] More specifically, referring to Figure 14 and Figure 15 , since the homing device 3 includes the first homing rod 41 and the second homing rod 71, that is, for the first homing rod 41, and in the preferred case, the minimum distance between the first homing rod 41 and the axis of the drive wheel set 2 in the direction perpendicular to the axial direction of the cable rail 5 (or the distance between the axis of the first homing rod 41 and the axis of the drive wheel set 2 in the direction perpendicular to the axial direction of the cable rail 5) during normal operation is greater than the sum of the diameter d of the cable rail 5 and the circumferential radius R1 of the groove bottom of the wheel groove 201 on the drive wheel set 2, and is less than the sum of the diameter d of the cable rail 5 and the radius R0 of the drive wheel set 2. Also, as an optional solution, for the second homing rod 71, similarly, the minimum distance between the second homing rod 71 and the axis of the drive wheel set 2 in the direction perpendicular to the axial direction of the cable rail 5 (or the distance between the axis of the second homing rod 71 and the axis of the drive wheel set 2 in the direction perpendicular to the axial direction of the cable rail 5) during normal operation is greater than the sum of the diameter d of the cable rail 5 and the circumferential radius R1 of the groove bottom of the wheel groove 201 on the drive wheel set 2, and is less than the sum of the diameter d of the cable rail 5 and the radius R0 of the drive wheel set 2. Preferably, in this embodiment, the axis of the first homing rod 41 and the axis of the second homing rod 71 are both arranged to be parallel to the axis of the drive wheel set 2 during normal operation.

[0100] That is, referring to Figure 14 and Figure 15, the position of the homing device 3 relative to the axis of the drive wheel set 2 in the direction perpendicular to the axial direction of the cable rail 5 in normal operation is arranged between the limit position C and the limit position D, so as to avoid the cable rail 5 from sliding out of the side wall of the wheel groove 201 in normal operation, so as to further improve the anti-derailing effect of the logistics shuttle robot 1 and ensure the structural stability in normal operation. Wherein, the Figure 15 The hollow arrow in the up-down direction represents the setting range of the position of the homing device 3.

[0101] Wherein, for the limit position C, please refer to Figure 1 Since in this embodiment, the drive wheel set 2 and the homing device 3 are spatially staggered in the axial direction of the cable rail 5, as shown in Figure 15 , the lowest point E of the drive wheel set 2 can be arranged below the highest point F of the homing device 3 (at this time, the distance between the highest point F of the homing device and the axis of the drive wheel set 2 in the direction perpendicular to the axial direction of the cable rail 5 is set to be infinitely close R1+d), so that the space between the homing device 3 and the groove bottom of the wheel groove 201 is minimized, that is, the space is close to only allowing the cable rail 5 to pass through. Obviously, the cable rail 5 is also at the best matching position of the wheel groove 201 at this time (i.e. the cable rail 5 is at the groove bottom of the wheel groove 201), that is, in this limit position state, the anti-side slip effect for preventing the cable rail 5 from sliding out of the side wall of the wheel groove 201 is optimal, and in this state, the running stability of the drive wheel set 2 on the cable rail 5 is also optimal.

[0102] In addition, for the limit position D, please refer to Figure 14 On the basis that the drive wheel set 2 and the homing device 3 are spatially staggered in the axial direction of the cable rail 5, obviously, the highest point F of the homing device 3 can also be arranged below the lowest point E of the drive wheel set 2 in the direction perpendicular to the axial direction of the cable rail 5, at this time, only need to ensure that the distance between the highest point F of the homing device 3 and the lowest point E of the drive wheel set 2 in the direction perpendicular to the axial direction of the cable rail 5 is less than the diameter of the cable rail 5 (i.e. the distance between the highest point F of the homing device 3 and the axis of the drive wheel set 2 in the direction perpendicular to the axial direction of the cable rail 5 is set to be infinitely close R1+d), so that the same effect of avoiding the cable rail 5 from sliding out of the side wall of the wheel groove 201 in normal operation can be achieved, so as to further improve the anti-derailing effect of the logistics shuttle robot 1 and ensure the structural stability in normal operation.

[0103] In addition, it should be appreciated that in the present embodiment, the relative position between the first homing rod 41 and the second homing rod 71 in the axial direction of the cable rail 5 can not be specifically limited, as long as it does not interfere, and the relative position between the first homing rod 41 and the second homing rod 71 shown in the drawings in the present embodiment is staggered in the up-down direction, i.e., the relative position relationship in the drawings is only a schematic structural embodiment and cannot be regarded as a limitation on the spatial relative position of the first and second homing rods in the present embodiment. For example, in some embodiments, referring to Figure 16 , the relative position relationship between the first and second homing rods can also be arranged in front and back along the axial direction of the cable rail 5 (i.e., as the relative position relationship between the first homing rod 41 and the drive wheel set 2 in general), and in this case, the relative position relationship between the first homing rod 41 and the second homing rod 71 in the direction perpendicular to the axial direction of the cable rail 5 can be arranged in a flush manner, and in this case, for preventing the cable rail 5 from sliding out from the wheel groove 201 near the groove wall of the second homing rod 71, the second homing rod 71 also has the same technical effect as the first homing rod 41, and in this case, in combination with the anti-sideslip effect of the first homing rod 41, it is obvious that the homing device 3 can achieve the effect of double-sided anti-sideslip, i.e., it can further improve the anti-derailing effect of the logistics shuttle robot 1, and achieve the purpose of full-enclosure to ensure the structural stability during normal operation.

[0104] Preferably, referring to Figure 1 , Figure 2 and Figure 8The anti-falling structure further comprises a second fixing member 9 installed on the side of the support 17 of the logistics shuttle robot 1, and the second anti-falling rod 7 is rotatably installed on the second fixing member 9 in the vertical direction, so that the second anti-falling rod 7 can rotate around its own axis, thereby achieving the purpose of driving the second homing rod 71 to rotate; the top rod section of the second anti-falling rod 7 beyond the second fixing member 9 is provided with a second locking pin 72 arranged in the radial direction of the second anti-falling rod 7; the top of the second fixing member 9 is provided with a second locking head 91 for limiting the rotation amplitude of the second homing rod 71, and the second locking head 91 is located within the rotation range of the second locking pin 72. The second locking pin 72 is designed on the top of the second anti-falling rod 7, and the corresponding second locking head 91 is arranged on the top of the second fixing member 9, and the second locking head 91 is located within the movement range of the second locking pin 72, so that at least in the case where no external force acts on the second homing rod 71, the second locking head 91 can lock the activity range of the second locking pin 72. In this way, by limiting the rotation range of the second locking pin 72 by the second locking head 91, the purpose of limiting the second homing rod 71 from leaving the position directly below the cable rail 5 can be achieved, so as to ensure that the second homing rod 71 can always be located directly below the cable rail 5 during the normal operation of the drive wheel set 2 on the cable rail 5. In combination with the first homing rod 41 and the second homing rod 71 arranged on both sides of the support 17, the homing device 3 can achieve the purpose of stably and continuously protecting the drive wheel set 2 from falling on both sides, so as to improve the continuity of safe operation of the equipment.

[0105] Preferably, referring to Figure 2 、 Figure 3 、 Figure 6 and Figure 8 , the top of the second locking head 91 is provided with a second inclined surface 92 for releasing the limitation of the rotation amplitude of the second homing rod 71, and the second inclined surface 92 is inclined away from the movement range of the second locking pin 72 from bottom to top. Similarly, when the drive wheel set 2 runs through the support 16, the second homing rod 71 will move upward relative to the second fixing member 9 at the top of the second anti-falling rod 7 under the action of the running jerk, so that the second locking pin 72 can at least move upward to the bottom of the second inclined surface 92, thereby achieving the purpose of releasing the rotation limitation of the second homing rod 71. After that, with the continuous forward movement of the drive wheel set 2, the second homing rod 71 will rotate under the action of the support 16, and the second locking pin 72 will also slide and rotate upward on the surface of the second inclined surface 92. Similarly, the second homing rod 71 connected with the second anti-falling rod 7 will also rotate, so as to achieve the purpose of avoiding the support 16 by the second homing rod 71.

[0106] Similarly, in the opposite case, if the driving wheel set 2 jumps up due to upward derailment, and the second homing rod 71 is in a normal operating state without being subjected to a pushing or impact force (i.e., in a normal operating state), the jumping driving wheel set 2 will drive the second homing rod 71 to move upward, so that the second homing rod 71 abuts against the cable rail 5, thereby enabling the cable rail 5 to exert a downward force on the second homing rod 71 to achieve the purpose of exerting a force on the driving wheel set 2 and returning it to the cable rail 5. In this process, the second locking pin 72 at the top of the second anti-derailment rod 7 will be tightly attached to the structure surface at the top of the second fixing member 9 under the transmission effect of the downward force from the cable rail 5, so that the rotation of the second locking pin 72 is locked by the second locking head 91. In this way, the purpose of ensuring that the normally operating second homing rod 71 can stably contact the cable rail 5 when the driving wheel set 2 jumps up due to upward derailment is achieved, thereby ensuring the contact stability of the cable rail 5 and the second homing rod 71. That is, the second locking head 91 also plays a role in ensuring the stability of the anti-derailment function of the second homing rod 71.

[0107] Preferably, the anti-falling structure further comprises a second locking spring 11, and the rod segment of the second anti-derailment rod 7 is provided with a second expanded rod 73. The second locking spring 11 is sleeved on the second anti-derailment rod 7 and located between the second expanded rod 73 and the second fixing member 9. Similarly, after the driving wheel set 2 passes through the support frame 16, the second anti-derailment rod 7 will drive the second locking pin 72 to slide downward on the surface of the second inclined surface 92 and rotate in the opposite direction under the elastic force of the second locking spring 11, and then fall to the top of the second fixing member 9, so that the second homing rod 71 falls back to the bottom side of the second locking head 91, thereby achieving the purpose of re-homing the second homing rod 71 and re-limiting the rotation of the second homing rod 71 below the cable rail 5. This ensures that at least part of the second homing rod 71 can always be below the cable rail 5 during the normal operation of the driving wheel set 2 on the cable rail 5, thereby improving the continuity of the safe operation of the equipment.

[0108] Specifically, in some embodiments, referring to Figure 2 , the anti-falling structure further comprises a second reset spring 13 for providing an elastic reset force to the rotation of the second anti-derailment rod 7. The second reset spring 13 is connected to the second anti-derailment rod 7 in the radial direction of the second anti-derailment rod 7. In this way, in combination with the re-homing effect of the second locking spring 11 on the second homing rod 71, the second homing rod 71 can be further driven to smoothly return to its original position, thereby ensuring that the second homing rod 71 can be stably homed below the cable rail 5 to continue to protect the driving wheel set 2 from falling.

[0109] Specifically, the second anti-falling rods 7 are provided in two, and the second reset springs 13 are arranged between any two adjacent second anti-falling rods 7 along the radial direction of the second anti-falling rods 7; the second connecting portions 731 are arranged on the rod segments outside the second anti-falling rods 7 in the second expansion rods 73; the two ends of the second reset springs 13 are respectively arranged on the second connecting portions 731 of the two adjacent second expansion rods 73; when the ends of the two second anti-falling rods 7 are both located directly below the cable rail 5, the two second connecting portions 731 are arranged in correspondence. By designing the second expansion rods 73 on the rod segments of the second anti-falling rods 7 and connecting the second reset springs 13 to the rod segments of the second expansion rods 73, when the second anti-falling rods 7 rotate, the displacement of the second connecting portions 731 will relatively increase (i.e., the second connecting portions 731 on the second expansion rods 73 can increase the radius of rotation) because the second connecting portions 731 are located outside the second anti-falling rods 7. Since the ends of the second reset springs 13 are arranged on the second connecting portions 731, obviously, the increase in the rotational displacement of the second connecting portions 731 helps to increase the extension and contraction range of the second reset springs 13, which can ensure that the second reset springs 13 can provide sufficient elastic reset force for the second anti-falling rods 7, so as to avoid reducing the homing effect of the second anti-falling rods 7 due to the small extension and contraction range of the second reset springs 13 and ensure the stability of the reset structure.

[0110] Of course, the reset spring can also be designed in a structure in which one end is connected to the anti-falling rod and the other end is connected to the support 17, although in this case the two anti-falling rods do not have reset linkage, but the elastic reset purpose can still be achieved.

[0111] Moreover, in combination with the rotating effects of the first fixed member 8 and the first reset spring 12 on the first anti-falling rod 4 and the rotating effects of the second fixed member 9 and the second reset spring 13 on the second anti-falling rod 7, the surrounding space 15 surrounding the cable rail 5 can be adaptively opened, i.e., when encountering a support structure such as the support frame 16, the surrounding space 15 can be avoidably opened, and after passing through the support structure such as the support frame 16, the surrounding space 15 is re-closed to ensure the structural stability of the anti-falling structure during operation.

[0112] Specifically, in the embodiment, the first extension rod 43 or the second extension rod 73 is a lifting ring bolt, the end of the rod section of the lifting ring bolt has a lifting ring opening, the lifting ring opening forms the first connecting part 431 or the second connecting part 731, the lifting ring bolt is a general spare part, which is convenient to obtain and has low production cost, and the connection stability of the first and second anti-disengagement rods is good, and the lifting ring bolt has the lifting ring opening at the end thereof, the lifting ring opening is directly used as the first and second connecting parts of the return spring, the structural adaptability is good, and the lifting ring opening is at the end of the lifting ring bolt, the moving displacement of the lifting ring opening is the largest when rotating, which is more conducive to ensuring the stability of the return structure.

[0113] Preferably, the first return rod 41 and / or the second return rod 71 is provided with a guide wheel assembly 14. The guide wheel assembly 14 can play a role in smoothness of the first and second return rods on the support structure such as the support frame 16. Specifically, in the embodiment, the guide wheel assembly 14 is arranged on the end of the first return rod 41 away from the first anti-disengagement rod 4 and on the end of the second return rod 71 away from the second anti-disengagement rod 7, and the guide wheel assembly 14 is preferably a bearing or a roller.

[0114] In the embodiment, for the specific structure of the first fixing part 8 and / or the second fixing part 9, the first fixing part 8 and / or the second fixing part 9 can adopt an integrated structure, that is, the first fixing part 8 and / or the second fixing part 9 has a through hole 20 penetrating the length of the body thereof, and the first anti-disengagement rod 4 and / or the second anti-disengagement rod 7 is rotatably installed in the through hole 20 corresponding thereto by a bearing 21. Taking the structure of the assembly of the first anti-disengagement rod 4 and the first fixing part 8 as an example, that is, referring to Figure 1 , Figure 10 and Figure 18 , the first anti-disengagement rod 4 can be designed to directly penetrate the body of the first fixing part 8, that is, and the part of the rod section at the top of the first anti-disengagement rod 4 penetrates the first fixing part 8 to meet the structural requirement of installing the first locking pin 42.

[0115] Of course, in other embodiments, in addition to the structure in which the anti-disengagement rod completely penetrates the fixing part from the inside, the structure in which the anti-disengagement rod penetrates the fixing part from the outside can also be adopted, that is, referring to Figure 1 , Figure 10 and Figure 19, the first fixing member 8 and / or the second fixing member 9 is provided with an open side slot 22 at the side, and the first anti-off rod 4 and / or the second anti-off rod 7 is rotatably installed in the corresponding open side slot 22 through a bearing 21. As one of the preferred solutions, the first fixing member 8 and / or the second fixing member 9 is fixedly installed on the support 17 in a form that the wall surface where the open side slot 22 is located faces the support 17, so that the support 17 can also play a role of cooperating with the first anti-off rod 4 and / or the second anti-off rod 7. As for the structure of the open side slot, the depth of the open side slot on the first fixing member 8 can be designed according to the actual situation, for example, the open side slot can be a half-open slot (i.e. the cross section of the slot body is a semicircle, i.e. a C-shaped slot), a minor arc slot, a major arc slot, or even a U-shaped slot, that is, the structure form of the open side slot in the cross section is not specifically limited here.

[0116] In addition, in other embodiments, the fixing member can also adopt a split structure, that is, referring to Figure 1 、 Figure 10 and Figure 20 , the first fixing member 8 and / or the second fixing member 9 includes a first fixing clamp 23 and a second fixing clamp 24 capable of being assembled with the first fixing clamp 23, the first fixing clamp 23 and the second fixing clamp 24 are both provided with an assembly slot 25, when the first fixing clamp 23 and the second fixing clamp 24 are assembled with each other, the two assembly slots 25 are correspondingly arranged, and the first anti-off rod 4 and / or the second anti-off rod 7 is rotatably assembled in the corresponding two assembly slots 25 through the bearing 21.

[0117] As for the specific structure of the second fixing member 9, it is similar or identical to that of the first fixing member 8, so that the drawings are not shown here.

[0118] Referring to Figure 4 、 Figure 9 、 Figure 10 and Figure 11In reality, the steel cable track 5 is suspended, so when the logistics shuttle robot 1 is hoisted, disassembled, and maintained, that is, when the logistics shuttle robot 1 is hoisted onto the steel cable track 5 or hoisted off the logistics shuttle robot 1 from the steel cable track 5, the anti-falling blocking effect of the first and second return rods 41 and 71 on the steel cable track 5 will interfere with the loading and unloading operation between the logistics shuttle robot 1 and the steel cable track 5, so a first loading and unloading groove 83 capable of accommodating the end of the first locking pin 42 is formed on the first locking head 81; when the first locking pin 42 is located on the first loading and unloading groove 83, the end of the first return rod 41 away from the first anti-extraction rod 4 is configured to be directly below the wheel groove 201 of the driving wheel set 2. When the loading and unloading operation of the logistics shuttle robot 1 is needed, only the first anti-extraction rod 4 needs to be turned, and the first locking pin 42 thereon is limited on the first loading and unloading groove 83. Since the first loading and unloading groove 83 is located at the top of the first locking head 81, when the end of the first locking pin 42 is turned to be accommodated on the first loading and unloading groove 83, the end of the first return rod 41 away from the first anti-extraction rod 4 can be turned to the side away from the wheel groove 201 of the driving wheel set 2, and the driving wheel set 2 is directly below the first return rod 41. At this time, the driving wheel set 2 is not blocked by the first return rod 41 (i.e., the surrounding space 15 is opened, as shown in Figure 9 so that the logistics shuttle robot 1 can be loaded and unloaded without interference. When the hoisting operation of the logistics shuttle robot 1 is completed, only the first locking pin 42 needs to be turned away from the first loading and unloading groove 83, and under the homing limiting effect of the first locking head 81 and the first return spring 12, the first return rod 41 will be reset to be directly below the driving wheel set 2 (i.e., the surrounding space 15 is closed) to continue to protect the logistics shuttle robot 1 from falling.

[0119] Specifically, in the setting mode of the first loading and unloading groove 83, only when the end of the first locking pin 42 is accommodated therein, the first homing rod 41 can be rotated to the side below the driving wheel set 2, for example, in the structural design, the setting direction of the first loading and unloading groove 83, the axis direction of the first locking pin 42 and the axis direction of the first homing rod 41 are not parallel to each other, and when the first locking pin 42 is in the first loading and unloading groove 83, the first homing rod 41 can be rotated and moved to the side below the driving wheel set 2 to temporarily open the surrounding space 15, and at the same time, such a structural position setting mode can also enable the first locking head 81 to achieve the above-mentioned purpose of rotating and releasing the rotation restriction of the first homing rod 41, and in this embodiment, the first locking head 81 is located on the top of the first fixed part 8 and away from the bracket 17, and the first loading and unloading groove 83 is located in the middle of the top end of the first locking head 81, the axis direction of the first locking pin 42 is perpendicular to the axis direction of the first homing rod 41, and the setting direction of the first loading and unloading groove 83 is parallel to the axis direction of the first homing rod 41 in the normal anti-derailing state, so that when the first locking pin 42 is rotated in the first loading and unloading groove 83, the first homing rod 41 is rotated by 90°, thereby achieving the purpose of more preferably opening the surrounding space 15, and at the same time, such a setting is also convenient for forming a restriction space between the first locking head 81 and the bracket 17 for restricting the rotation of the first locking pin 42, thereby improving the rotation restriction effect of the first locking pin 42.

[0120] Similarly, referring to Figure 3 、 Figure 8 and Figure 9 , the second loading and unloading groove 93 capable of accommodating the end of the second locking pin 72 is formed on the second locking head 91, and when the end of the second locking pin 72 is accommodated in the second loading and unloading groove 93, the end of the second homing rod 71 away from the second anti-derailing rod 7 is configured to be away from the position directly below the wheel groove 201 of the driving wheel set 2. The design of the second loading and unloading groove 93 on the second fixed part 9 and the corresponding second locking pin 72 on the second anti-derailing rod 7 can achieve the purpose of moving the second homing rod 71 to a position where the lifting logistics shuttle robot 1 does not interfere, and in combination with the temporary opening effect of the first locking pin 42 and the first loading and unloading groove 83, the purpose of more facilitating the lifting logistics shuttle robot 1 is achieved.

[0121] In summary, the beneficial effects of the anti-falling structure of the logistics shuttle robot disclosed in the embodiment are:

[0122] 1) The anti-falling structure of the logistics shuttle robot provided by the present application can apply a force to the driving wheel set towards the cable rail through the homing device, so that when the driving wheel set is separated from the cable rail, the homing device can generate a force to the driving wheel set towards the cable rail to drive the driving wheel set to re-homing on the cable rail, ensuring that the driving wheel set can continue to operate stably, thereby reducing the risk of derailment failure of the driving wheel set, and achieving the purpose of avoiding the derailment and falling of the driving wheel set, and reducing the remedial cost of on-site homing.

[0123] 2) At least one set of homing devices is arranged behind the driving wheel set in the forward direction, which can ensure that the homing device can still apply a force to the driving wheel set towards the cable rail during the process of passing through the support structure, thereby reducing the risk of derailment of the driving wheel set during operation, and achieving the purpose of further improving the anti-falling effect.

[0124] 3) The homing devices are arranged on both sides of the driving wheel set in the front and rear directions, so that at least one set of homing devices can be in the normal anti-derailment working state when the logistics shuttle robot runs back and forth on the cable rail, thereby achieving the purpose of further improving the anti-falling effect.

[0125] 4) The first reset spring can provide sufficient elastic reset force for the first anti-derailment rod, so as to avoid reducing the homing effect of the first anti-derailment rod due to the small extension amplitude of the first reset spring, and ensure the stability of the reset structure.

[0126] The technical means disclosed in the present application scheme is not limited to the technical means disclosed in the above embodiments, but also includes the technical solutions composed of any combination of the above technical features. It should be noted that for ordinary skilled persons in the art, without departing from the principles of the present application, some improvements and refinements can be made, which are also considered within the protection scope of the present application.

Claims

1. A fall-prevention structure of a logistics shuttle robot, applied to a logistics shuttle robot (1) to prevent it from falling off a cable track (5), the logistics shuttle robot (1) running on the cable track (5) through a drive wheel set (2) therein, characterized in that, The anti-falling structure comprises: At least one set of homing devices (3) capable of applying an action force to the driving wheel set (2) towards the cable rail (5), the homing device (3) comprising at least a first homing rod (41) capable of moving to the cable rail (5) directly below; The anti-falling structure further comprises a first anti-falling rod (4), and the first homing rod (41) is arranged on the rod segment of the first anti-falling rod (4) below the cable rail (5); The homing device (3) is directly or indirectly installed on the logistics shuttle robot (1), and the cable rail (5) is surrounded between the driving wheel set (2) and the homing device (3); The anti-falling structure further comprises a first fixing member (8) arranged on the side of the support (17), the first anti-falling rod (4) is rotatably arranged on the first fixing member (8) in the vertical direction, and the top of the first fixing member (8) is provided with a first locking head (81) for limiting the first homing rod (41) from leaving directly below the cable rail (5); The anti-falling structure further comprises a first locking spring (10), the first locking spring (10) is sleeved on the first anti-falling rod (4), the first anti-falling rod (4) is provided with a first expansion rod (43) on the rod segment, and the first locking spring (10) is located between the first expansion rod (43) and the first fixing member (8).

2. The fall protection structure of a logistics shuttle robot according to claim 1, characterized in that, The first homing rod (41) is movably arranged on the logistics shuttle robot (1).

3. The fall protection structure of a logistics shuttle robot according to claim 1, characterized in that, The first anti-falling rod (4) is rotatably arranged on the side of the support (17) of the logistics shuttle robot (1) away from the boom (6), and the first anti-falling rod (4) extends downward of the cable rail (5).

4. The fall protection structure of a logistics shuttle robot according to claim 1, characterized in that, The top rod segment of the first anti-falling rod (4) beyond the first fixing member (8) is provided with a first locking pin (42) arranged in the radial direction of the first anti-falling rod (4); and the first locking head (81) is located within the rotation range of the first locking pin (42).

5. The fall protection structure of a logistics shuttle robot according to claim 4, characterized in that, The top of the first locking head (81) is provided with a first inclined surface (82) for releasing the limitation of the rotation amplitude of the first homing rod (41), and the first inclined surface (82) is arranged to incline from bottom to top to the direction away from the movement range of the first locking pin (42).

6. The fall protection structure of any one of claims 1 to 5, wherein, At least one set of the homing device (3) is located on the rear side of the driving wheel set (2) in the forward direction.

7. The fall protection structure of a logistics shuttle robot according to claim 6, characterized in that, The homing device (3) is arranged in two groups, and the two groups of homing devices (3) are arranged in sequence in the forward direction of the driving wheel set (2), and the driving wheel set (2) is located between the two groups of homing devices (3).

8. The fall protection structure of a logistics shuttle robot according to claim 7, characterized in that, The anti-falling structure further comprises a first reset spring (12) for providing elastic reset force to the rotation of the first anti-falling rod (4), and the first reset spring (12) connects the first anti-falling rod (4) in the radial direction of the first anti-falling rod (4).

9. The fall protection structure of a logistics shuttle robot according to claim 8, characterized in that, The first reset spring (12) is arranged on the first anti-falling rod (4) in two adjacent homing devices (3) respectively at both ends; The first connecting part (431) is arranged on the rod segment outside the first anti-falling rod (4) in the first expansion rod (43); Two ends of the first reset spring (12) are respectively arranged in the first connecting portions (431) of two adjacent first expansion rods (43); When the ends of the two first reset rods (41) are both directly below the cable rail (5), the two first connecting portions (431) are correspondingly arranged.

10. The fall protection structure of a logistics shuttle robot according to claim 6, characterized in that, The reset device (3) further comprises a second reset rod (71) capable of moving at least partially to the position directly below the cable rail (5), the second reset rod (71) being movably arranged on the side of the support (17) of the logistics shuttle robot (1) away from the first reset rod (41).

11. The fall-prevention structure for a logistics shuttle robot according to any one of claims 7 to 10, characterized in that, The driving wheel set (2) is provided with a wheel groove (201) matched with the cable rail (5) in the circumferential direction; In the direction perpendicular to the axial direction of the cable rail (5), the minimum distance L between the axis of the driving wheel set (2) and the reset device (3) satisfies the relationship: Wherein, R1 is the circumferential radius of the groove bottom of the wheel groove (201) on the driving wheel set (2), R0 is the radius of the driving wheel set (2), and d is the diameter of the cable rail (5).

12. The fall protection structure of a logistics shuttle robot according to claim 10, characterized in that, The position point at which the driving wheel set (2) is located when it is separated from the cable rail (5) is the separation point, and the position point at which the driving wheel set (2) is located when it lands on the cable rail (5) is the landing point; In the axial direction of the cable rail (5), the distance between the axis of the first reset rod (41) and the axis of the driving wheel set (2) when the first reset rod (41) moves to the position directly below the cable rail (5), and / or the distance between the axis of the second reset rod (71) and the axis of the driving wheel set (2) when the second reset rod (71) moves to the position directly below the cable rail (5) is greater than or equal to the distance between the separation point and the landing point.

13. The fall protection structure of a logistics shuttle robot according to claim 10, characterized in that, The anti-falling structure further comprises a second anti-separation rod (7), the second anti-separation rod (7) being rotatably mounted on the side of the support (17) of the logistics shuttle robot (1) close to the boom (6), and the second anti-separation rod (7) extending downward of the cable rail (5); The second reset rod (71) is arranged on the rod segment below the cable rail (5) in the second anti-separation rod (7); The first anti-separation rod (4) and the second anti-separation rod (7) are correspondingly arranged on the support (17).

14. The fall protection structure of a logistics shuttle robot according to claim 13, characterized in that, The anti-falling structure further comprises a second fixing member (9) mounted on the side of the support (17) of the logistics shuttle robot (1), and the second anti-separation rod (7) is rotatably mounted on the second fixing member (9) in the vertical direction; A second locking pin (72) is arranged on the top rod segment of the second anti-separation rod (7) beyond the second fixing member (9) in the radial direction of the second anti-separation rod (7); The top of the second fixing member (9) is provided with a second locking head (91) for limiting the rotation amplitude of the second reset rod (71), and the second locking head (91) is located within the rotation range of the second locking pin (72).

15. The fall protection structure of a logistics shuttle robot according to claim 14, characterized in that, The top of the second locking head (91) is provided with a second inclined surface (92) for releasing the limit of the rotation amplitude of the second homing rod (71), and the second inclined surface (92) is inclined from bottom to top to the direction away from the movement range of the second locking pin (72).

16. The fall protection structure of a logistics shuttle robot according to claim 15, characterized in that, The anti-falling structure further comprises a second locking spring (11), and a second expanded rod (73) is arranged on the rod segment of the second anti-falling rod (7), the second locking spring (11) is sleeved on the second anti-falling rod (7), and is located between the second expanded rod (73) and the second fixing part (9).

17. The fall protection structure of a logistics shuttle robot according to claim 16, characterized in that, The anti-falling structure further comprises a second reset spring (13) for providing elastic reset force to the rotation of the second anti-falling rod (7), and the second reset spring (13) connects the second anti-falling rod (7) in the radial direction of the second anti-falling rod (7).

18. The fall protection structure of a logistics shuttle robot according to claim 17, characterized in that, The second anti-falling rod (7) is provided as two, and the second reset spring (13) is arranged between any two adjacent second anti-falling rods (7) in the radial direction of the second anti-falling rod (7). The rod segment of the second expanded rod (73) located outside the second anti-falling rod (7) is provided with a second connecting part (731); The two ends of the second reset spring (13) are respectively arranged on the second connecting parts (731) of the two adjacent second expanded rods (73); When the ends of the two second homing rods (71) are both located directly below the steel cable rail (5), the two second connecting parts (731) are correspondingly arranged.

19. The fall protection structure of a logistics shuttle robot according to claim 14, characterized in that, The first fixing part (8) and / or the second fixing part (9) has a through hole (20) penetrating the length of the body, and the first anti-falling rod (4) and / or the second anti-falling rod (7) is rotatably installed in the corresponding through hole (20) through a bearing (21).

20. The fall protection structure of a logistics shuttle robot according to claim 14, wherein, The first fixing part (8) and / or the second fixing part (9) is provided with an open side slot (22) on the side, and the first anti-falling rod (4) and / or the second anti-falling rod (7) is rotatably installed in the corresponding open side slot (22) through a bearing (21).

21. The fall protection structure of a logistics shuttle robot according to claim 14, wherein, The first fixing part (8) and / or the second fixing part (9) comprises a first fixing clamp (23) and a second fixing clamp (24) capable of being assembled with the first fixing clamp (23), the first fixing clamp (23) and the second fixing clamp (24) are both provided with an assembly slot (25), when the first fixing clamp (23) and the second fixing clamp (24) are assembled, the two assembly slots (25) are correspondingly arranged, and the first anti-falling rod (4) and / or the second anti-falling rod (7) is rotatably assembled in the two corresponding assembly slots (25) through a bearing (21).

22. The fall protection arrangement of claim 4 or 5, wherein, The first locking head (81) is provided with a first dismounting slot (83) capable of accommodating the end of the first locking pin (42); When the first locking pin (42) is located on the first dismounting slot (83), the first homing rod (41) is configured to be away from the directly below of the drive wheel set (2).

23. The fall protection arrangement of claim 14 or 15, wherein, The second locking head (91) is provided with a second dismounting slot (93) capable of accommodating the end of the second locking pin (72); The second locking head (91) is provided with a second dismounting slot (93) capable of accommodating the end of the second locking pin (72); When the second locking pin (72) end is accommodated on the second loading and unloading groove (93), the second homing rod (71) is configured to be able to move away from directly below the drive wheel set (2).

24. The fall protection arrangement of any one of claims 12 to 21, wherein, The first homing rod (41) and / or the second homing rod (71) is provided with a guide wheel assembly (14).

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