Side wheel trolley

Abstract

A side-wheel trolley comprises a main body, a control circuit board, a rechargeable battery, a full-bridge rectifier, a power manager, a V-wheel geared motor mounting assembly, an RFID reader, a Hall sensor, a distance sensor, a WIFI antenna, a touch switch, a three-color indicator light, a power switch button, a start button, and a loading tray. This invention employs a hybrid power supply mode combining on-rail power and battery power, featuring high operating efficiency, real-time performance, high parking accuracy, and intelligent collision avoidance. The side-wheel trolley can operate independently or in conjunction with other systems. It can be used in intelligent dispensing and dispensing systems for traditional Chinese medicine in pharmacies, as well as for sorting, classifying, and transporting goods in logistics plants.

Description

Technical Field

[0001] This invention relates to logistics transport vehicles, particularly side-wheel vehicles used in intelligent traditional Chinese medicine pharmacy systems for transporting Chinese medicinal herbs and then assembling them to complete Chinese medicine prescriptions. Background Technology

[0002] In the inventor's <Intelligent Traditional Chinese Medicine Dispensing Control System>, after the prescription is reviewed, the various traditional Chinese medicine herbs in the prescription are pulverized by a pulverizing device in the intelligent medicine cabinet. The pulverized herbs are then delivered by a dispensing device and a metering and flipping device to the medicine tray of an automated cart. The cart then travels along a conductive lateral track to a replenishment station and a medicine inspection station for re-weighing, before finally transporting the medicine to the call dispensing station for distribution to the patient. Therefore, it is particularly necessary to develop a lateral wheel cart that matches the lateral conductive track, receives instructions in real time, and can transport and unload goods at designated points. Summary of the Invention

[0003] The purpose of this invention is to provide a side-wheel trolley that is highly efficient in operation, real-time, has accurate parking, intelligent collision avoidance, on-orbit power supply, and battery power supply.

[0004] The objective of this invention is achieved as follows: A side-wheeled trolley, the cubic body of which is composed of a car shell and a top plate of the car shell fastened together. The car shell is integrally formed by a front side plate, a rear side plate, a left side plate, a right side plate, and a bottom plate of the car shell. Four V-shaped wheels are evenly distributed under the square bottom plate of the car shell. Four motor drive devices are arranged symmetrically in a central manner. Each motor drive device consists of: a V-shaped wheel installed on the output shaft of a reduction motor perpendicular to the bottom plate extending downward from the outer end of the bottom plate; the reduction motor is mounted on a reduction motor mounting plate; a slide rail is symmetrically installed on both sides of the diagonal of the square bottom plate; the two ends of the reduction motor mounting plate are fixed to a slider by bolts; the two sliders form a sliding engagement relationship with the two slide rails respectively; a tension spring is installed between the reduction motor mounting plate and the corresponding adjacent side plates of the car shell, and the tension spring is arranged along the diagonal direction of the square bottom plate.

[0005] A V-shaped conductive wheel is installed between two adjacent V-shaped wheels on the bottom plate of the vehicle body, which is used to receive electricity by contacting the conductive lateral rail. The movement trajectory of each V-shaped conductive wheel and the two adjacent V-shaped wheels is the same straight line. An RFID reader and a Hall sensor are installed on the bottom plate, which are used to cooperate with RFID cards and Hall magnets on the conductive lateral rail. A WIFI antenna, a running indicator light, a loading tray indicator light, and a loading tray quick loading and unloading mechanism are installed on the top plate of the vehicle body.

[0006] Hall effect sensors and distance sensors are installed on the front, rear, left, and right side panels, respectively, as well as heat dissipation holes. A start button is installed on the front side panel, a power switch is installed on the left side panel, and a charging port for battery charging is installed on the rear side panel.

[0007] The dual power automatic switcher and control circuit board are mounted on the mounting plate, and the mounting plate and battery are installed inside the vehicle body.

[0008] The four V-shaped wheels are arranged symmetrically in the top and bottom and symmetrically in the left and right. The center line of the output shaft of the reduction motor corresponding to each V-shaped wheel is perpendicular to and intersects the diagonal line corresponding to the square of the base plate.

[0009] One end of the tension spring is fixed at the junction of adjacent two vertical plates, and the other end is fixed to a tension spring clip on the geared motor mounting plate. It also includes a loading tray with reinforcing ribs on the outside and a quick-release port around the lower perimeter. The quick-release mechanism for the loading tray consists of a fixed clip installed on one side of the top plate, a movable clip installed on the other side of the top plate, a tension spring fixed between the bottom of the movable clip and the top plate, and a spring plate with a torsion spring installed inside the tension spring on the top plate. When no external force is applied, the spring plate, under the action of the torsion spring, can lift the loading tray upwards. During installation, align the quick-release port at one end of the loading tray with the fixing clip. Under downward force, the quick-release port at the other end of the loading tray causes the movable clip to overcome the tension spring and move outward, thus engaging the quick-release ports at both ends of the loading tray with the fixing clip and the movable clip respectively to complete the installation of the loading tray. When removing the loading tray, pull the movable clip outward to overcome the tension spring and move it outward from the quick-release port of the loading tray. Under the action of the torsion spring, the spring clip lifts the loading tray upward and finally removes the loading tray.

[0010] It also features a battery support plate, which is mounted on a base plate with four screws. A full-bridge rectifier mounting box is mounted on the mounting plate, and the full-bridge rectifier is installed inside the mounting box. Four double-through hexagonal copper pillars are fixed between the mounting plate and the battery support plate with screws. The battery is placed on the battery support plate, located between the mounting plate and the battery support plate, and four downward-bent vertical plates on the mounting plate are respectively inserted into two strip holes on the battery support plate. The control circuit board is mounted and fixed on the four support pillars on the mounting plate. The dual-power automatic switcher is mounted on the mounting plate with screws through mounting holes on its two ear plates.

[0011] The Hall sensor with nut one has its front end passing through a hole in the bracket and then screwed onto the bracket by another nut two. The bracket is welded to the base plate. It also has a support, the support structure of which is: a short section rectangular tube is fixed to the base plate, the distance sensor is installed in the short section rectangular tube of the support, an outwardly expanding horn-shaped cylinder is fixed to the opening on one side of the short section rectangular tube, the base plate is nested in the support mounting plate, and the support mounting plate is welded to the bottom plate of the vehicle body; the full-bridge rectifier mounting box is installed on the mounting plate by screws through two mounting holes two, and the full-bridge rectifier is fixed in the full-bridge rectifier mounting box by screws through the holes in the bottom plate of the full-bridge rectifier mounting box.

[0012] The top plate of the vehicle body is equipped with a touch switch for sensing whether a loading tray is installed on the side wheel trolley. The touch switch is connected to the control circuit board. The spare input line of the dual power automatic switch is connected to the battery, and the normal input line of the dual power automatic switch is connected to the output line of the full-bridge rectifier. The output line of the dual power automatic switch is connected to the control circuit board. All Hall sensors, distance sensors, RFID readers, and Hall sensors on the bottom plate of the vehicle body are connected to the control circuit board. The WIFI antenna is wirelessly connected to the host computer system. The power switch and start button are both connected to the power supply circuit of the geared motor. The geared motor is connected to the control circuit board. The input line of the full-bridge rectifier is connected to the V-shaped conductive wheel, and its output line is connected to the normal input line of the dual power automatic switch.

[0013] The conductive lateral track consists of two parallel tracks that provide power for the engagement and operation of the lateral wheel trolley's wheels. Each track has the following structure: a V-shaped track bar is fixed on a rectangular tube, and a conductive copper strip is installed on the outwardly protruding V-shaped end of the V-shaped track bar. An insulating layer is also laid between the conductive copper strip and the V-shaped track bar, and an insulating protective cover is installed on the top of the V-shaped track bar. A dustproof plate is installed below the two tracks, and magnets and RFID cards are installed on the dustproof plate to cooperate with the Hall sensor and RFID reader on the lateral wheel trolley, respectively.

[0014] This invention has the following technical features and advantages:

[0015] 1. High efficiency and real-time operation of the trolleys: When the lateral wheel trolleys are idle, they are all parked in the departure area waiting for operation instructions. When the lateral wheel trolleys and the track system receive operation instructions, they can dispatch 1 to n trolleys according to the instructions. This can efficiently realize the real-time reception, real-time transportation and fixed-point parking and unloading of transported goods.

[0016] 2. Wide range of applications: The side-wheel trolley can operate independently or in conjunction with other systems. It can be used in "intelligent dispensing and dispensing system for Chinese herbal medicine in smart pharmacies" as well as for sorting, classifying, and transporting goods in logistics plants.

[0017] 3. High parking and positioning accuracy: By adopting a positioning technology solution combining RFID positioning and magnetic positioning, the side-wheel trolley achieves precise positioning and parking during operation. When the side-wheel trolley moves to the required parking position on the V-shaped track, it first reads the code of the RFID card through the RFID reader, knowing that it needs to park at this position. Then, the trolley control program controls the side-wheel trolley to immediately decelerate. When the Hall sensor detects the positioning magnet associated with the RFID card, the trolley control program controls the side-wheel trolley to immediately stop and cease movement, achieving a positioning error of ≤10mm.

[0018] 4. Intelligent anti-collision function: Distance sensors are installed on all four sides of the side-wheel vehicle. During operation, the side-wheel vehicle detects the distance to surrounding obstacles in real time through the distance sensors. Since the side-wheel vehicle runs in a V-shaped track, there is no possibility of obstacles in other directions besides the forward direction. Therefore, the vehicle control program automatically ignores the distance measurement in the other three directions and only judges the distance measurement in the forward direction. Then, by judging the distance length of obstacles in the forward direction, it slows down or stops, thereby avoiding collisions with obstacles in the forward direction and realizing intelligent anti-collision.

[0019] 5. Low energy consumption: When the lateral wheel trolley and track system are running, only the lateral wheel trolley that has received the instruction will participate in the operation. The lateral wheel trolley that has not received the instruction will wait for the instruction in the departure area, thus achieving low power consumption operation.

[0020] 6. Long working duration: The trolley adopts a hybrid power supply mode of on-rail power supply and battery power supply, which ensures that the trolley can operate efficiently and stably for a long time, and can also continue to operate within a certain time range in the event of on-rail power failure. Attached Figure Description

[0021] Figure 1 It is a 3D view of the side-wheel trolley and the loading tray.

[0022] Figure 2 It is a 3D diagram of a side-wheeled vehicle.

[0023] Figure 3 , Figure 4 These are exploded and 3D views of the main internal components of the side-wheel trolley.

[0024] Figure 5 It is a 3D view of the motor drive device (with sliding mechanism).

[0025] Figure 6 yes Figure 5 Top view.

[0026] Figure 7 , Figure 8 , Figure 9 , Figure 10 , Figure 11 , Figure 12 They are Figure 2 The front view of the vehicle body top panel, front side panel, left side panel, rear side panel, right side panel, and bottom panel is shown.

[0027] Figure 13 , Figure 14 These are a top view and a 3D view of the car's interior without electronics.

[0028] Figure 15 yes Figure 13 Enlarged view of part C.

[0029] Figure 16 It is a top view and a 3D view of the car's interior with electronics.

[0030] Figure 17 , Figure 18 They are Figure 5 The diagram shows the motor drive device when the tension spring receives a force in the corresponding direction, and the diagram shows the corresponding movement direction of the geared motor (including the mounting plate).

[0031] Figure 19 , Figure 20 They are Figure 17 , Figure 18 Top view.

[0032] Figure 21 , Figure 22 , Figure 23 , Figure 24 These are, respectively, a 3D view of the Hall sensor fixed on the bracket, an exploded view, a 3D view of it installed on a side panel of the vehicle body, and a 3D view of it installed inside the vehicle body. Figure 23 yes Figure 24 (Enlarged view of part A).

[0033] Figure 25 , Figure 26 , Figure 27 These are, respectively, a 3D view of the distance sensor's support, an assembly view, and a 3D view of it installed inside the vehicle body.

[0034] Figure 28 yes Figure 27 Enlarged view of part B.

[0035] Figure 29 yes Figure 26 The cross-sectional view of the support shown.

[0036] Figure 30 , Figure 31 , Figure 32 These are the top view, left view, and perspective view of the control circuit board.

[0037] Figure 33 , Figure 34 , Figure 35 These are the front view, top view, and perspective view of the dual-power automatic switcher.

[0038] Figure 36 , Figure 37 These are a cross-sectional view and a three-dimensional view of the double-through hexagonal copper pillar.

[0039] Figure 38 , Figure 39These are a top view and a perspective view of the full-bridge rectifier mounting box.

[0040] Figure 40 , Figure 41 These are a top view and a perspective view of the battery support plate.

[0041] Figure 42 This is the main view of the loading disk.

[0042] Figure 43 yes Figure 42 Cross-sectional view along line DD.

[0043] Figure 44-47 This is a diagram illustrating the loading disk installation process.

[0044] Figure 48 It is a 3D diagram of ground-based conductive lateral track and elevated conductive lateral track.

[0045] Figure 49 This is a cross-sectional view of a conductive lateral track. Detailed Implementation

[0046] In the attached diagram, there are spring clips 16a, bolts 20, screws 13, vertical plates 12 (4 pieces), dual power automatic switch mounting holes 3a, charging port mounting holes 34a, start button mounting holes 33a, touch switch fixing pieces 26a, power switch mounting holes 32a, double-through hexagonal copper pillar mounting holes 6a (4 pieces) and support pillar mounting holes 6d (4 pieces) on the control circuit board mounting plate, dual power automatic switch mounting holes 6b, full-bridge rectifier mounting box mounting holes 6c, and baffles 6e.

[0047] The full-bridge rectifier mounting box has 7c (2 holes), bottom hole 7b, and heat dissipation through hole 7a (3 holes), battery support plate mounting holes 10a (4 holes), 10b (4 holes for mounting double-through hexagonal copper pillars), and strip hole 10c (4 holes for inserting baffles).

[0048] Figure 3 Figure 5 Figure 6 Figure 12The diagram shows a side-wheeled vehicle with a cubic body consisting of a shell 1 and a top plate 1f that are fastened together. The shell is integrally formed by a front side plate 1a, a rear side plate 1b, a left side plate 1c, a right side plate 1d, and a bottom plate 1e. Four V-shaped wheels 17 are evenly distributed below the square bottom plate. Four motor drive devices are arranged symmetrically in a central manner. Each motor drive device 37 consists of a V-shaped wheel 17 mounted on the output shaft of a reduction motor 14 perpendicular to the bottom plate, which extends downwards from the outer end of the bottom plate. The reduction motor is mounted on a reduction motor mounting plate 15. A slide rail 18 is symmetrically mounted on both sides of the diagonal of the square on the bottom plate. The two ends of the reduction motor mounting plate are fixed to a slider 19 by bolts 20. The two sliders form a sliding fit with the two slide rails. A tension spring 16 is installed between the reduction motor mounting plate and the adjacent side plates of the corresponding shell, and the tension spring is arranged along the diagonal of the square on the bottom plate.

[0049] A V-shaped conductive wheel 28 is installed between two adjacent V-shaped wheels on the bottom plate of the vehicle body, which is used to receive electricity by contacting the conductive lateral rail. The movement trajectory of each V-shaped conductive wheel and the two adjacent V-shaped wheels is the same straight line. An RFID reader 36 and a Hall sensor 35 are installed on the bottom plate, which are used to cooperate with RFID cards and Hall magnets on the conductive lateral rail, respectively. A WIFI antenna 21, a running indicator light 24, a loading tray indicator light 25, and a loading tray quick loading and unloading mechanism are installed on the top plate of the vehicle body.

[0050] Hall effect sensors 29 and distance sensors 30 are installed on the front, rear, left and right side panels, respectively, and heat dissipation holes 31 are provided. A start button 33 is installed on the front side panel, a power switch 32 is installed on the left side panel, and a charging port 34 for charging the battery 8 is installed on the rear side panel.

[0051] The dual power automatic switcher 3 and the control circuit board 2 are both mounted on the mounting plate 6, and the mounting plate 6 and the battery 8 are installed in the inner cavity of the vehicle body.

[0052] The four V-shaped wheels are arranged symmetrically in the top and bottom and symmetrically in the left and right. The center line of the output shaft of the reduction motor corresponding to each V-shaped wheel is perpendicular to and intersects the diagonal line corresponding to the square of the base plate.

[0053] One end of the tension spring is fixed at the junction of adjacent two vertical plates, and the other end is fixed on the tension spring clip 16a on the geared motor mounting plate 15; it also has a loading tray 38, with reinforcing ribs 38b on the outside of the loading tray, and a quick-release port 38a on the lower periphery of the loading tray; the quick-release mechanism of the loading tray is as follows: a fixed clip 23 is installed on one side of the top plate, a movable clip 27 is installed on the other side of the top plate, a tension spring is fixed between the bottom of the movable clip and the top plate, and a spring piece 39 with a torsion spring is installed inside the tension spring on the top plate. When not subjected to external force, the spring piece is in the torsion spring Under the action of the spring, the loading tray can be lifted upwards. During installation, align the quick-release port at one end of the loading tray with the fixing clip. Under the downward force, the quick-release port at the other end of the loading tray will cause the movable clip to overcome the tension spring force and move outwards, so that the quick-release ports at both ends of the loading tray can be fitted and connected with the fixing clip and the movable clip respectively to complete the installation of the loading tray. When removing the loading tray, pull the movable clip outwards, thereby overcoming the tension spring force and causing the movable clip to move outwards and disengage from the quick-release port of the loading tray. Under the action of the torsion spring, the spring will lift the loading tray upwards and finally remove the loading tray.

[0054] Figure 17 Figure 18 As shown, when the tension spring is subjected to a force in the corresponding direction, the geared motor mounting plate and the geared motor will move in the direction indicated by the arrow.

[0055] Figure 19 Figure 20 When the tension spring is subjected to a force in the corresponding direction, the geared motor mounting plate and the geared motor will move in the direction shown by the arrow.

[0056] Figure 19 At this time, the tension spring is in the contracted state (normal state). Therefore, the tension spring pulls the geared motor mounting plate, and the geared motor mounting plate drives the geared motor to be in a tensioned state so that the trolley can be locked on the V-shaped track on both sides by its V-shaped wheel.

[0057] Figure 20 At this point, the tension spring is under tension (taking the trolley state). Therefore, the tension spring pulls the geared motor mounting plate, and the geared motor mounting plate drives the geared motor to move towards the inside of the trolley, so that the V-shaped wheels around it retract to ensure that the trolley can be smoothly removed from the V-shaped track.

[0058] The spring exerts an outward pulling force on the geared motor, thus keeping the V-shaped wheel always in contact with the track.

[0059] The double-through hexagonal copper pillars are used to support the control circuit board mounting plate and the battery support plate. During installation, they are placed between the two and tightened with screws at both ends.

[0060] This distance sensor bracket is made entirely of plastic. The hollow, gradually widening flare is designed to ensure that the infrared beam emitted by the distance sensor can still penetrate smoothly and unobstructed after continuous dispersion during infrared ranging. The use of plastic is also to reduce interference from metal on infrared ranging.

[0061] Figure 44 In the middle, the loading tray is placed downwards against the loading tray fixing clip.

[0062] Figure 45 When the loading tray is placed above the loading tray fixing clip and the loading tray movable clip, pressing down compresses the spring under the loading tray movable clip, causing the loading tray movable clip to move backward.

[0063] Figure 46 In the middle, after the loading plate is pressed to the bottom, the loading plate movable lock moves to the right under the action of the spring and locks the loading plate. At the same time, the loading plate spring is pressed down.

[0064] Figure 47 In the middle, pull the loading plate to the left by hand until it reaches a certain position. The loading plate spring will bounce up under the action of the internal torsion spring and push the loading plate upward. At this time, the loading plate can be easily removed.

[0065] It also has a battery support plate 10, which is mounted on the base plate by four screws 9. A full-bridge rectifier mounting box 7 is provided on the mounting plate 6, and the full-bridge rectifier is installed in the full-bridge rectifier mounting box 7. Four double-through hexagonal copper pillars 11 are fixed between the mounting plate 6 and the battery support plate by screws 5. The battery 8 is placed on the battery support plate, located between the mounting plate 6 and the battery support plate, and four downwardly bent vertical plates 12 on the mounting plate are respectively inserted into two strip holes on the battery support plate. The control circuit board 2 is mounted on the four support pillars 4 on the mounting plate 6. The dual power automatic switcher 3 is mounted on the mounting plate 6 by screws through the mounting holes 3b on its two ear plates.

[0066] The Hall sensor 29, with nut 29a, has its front end passing through a hole in bracket 29b and then screwed onto the bracket by another nut 29c. The bracket is welded to the base plate. It also has a support 30a, the structure of which is: a short section rectangular tube is fixed to the base plate, the distance sensor 30 is installed inside the short section rectangular tube of the support 30a, and an outwardly expanding horn-shaped cylinder is fixed to the opening on one side of the short section rectangular tube. The base plate is nested on the support mounting plate 30b, and the support mounting plate is welded to the bottom plate of the vehicle body. The full-bridge rectifier mounting box 7 is installed on the mounting plate 6 with screws through two mounting holes 7c, and the full-bridge rectifier is fixed inside the full-bridge rectifier mounting box with screws through the hole 7b in the bottom plate of the full-bridge rectifier mounting box.

[0067] A touch switch 26 is installed on the top plate of the vehicle body to sense whether a loading tray is installed on the side wheel trolley. The touch switch is connected to the control circuit board. The spare input line 3c of the dual power automatic switch 3 is connected to the battery 8. The common input line 3d of the dual power automatic switch 3 is connected to the output line of the full bridge rectifier. The output line 3e of the dual power automatic switch 3 is connected to the control circuit board. All Hall sensors 29 and distance sensors 30, as well as the RFID reader and Hall sensor 35 on the bottom plate of the vehicle body, are connected to the control circuit board. The WIFI antenna is wirelessly connected to the host computer system. The power switch and start button are both connected to the power supply circuit of the geared motor. The geared motor is connected to the control circuit board. The input line of the full bridge rectifier is connected to the V-shaped conductive wheel, and its output line is connected to the common input line 3d of the dual power automatic switch 3.

[0068] The conductive lateral track consists of two parallel tracks that allow the lateral wheel trolley to engage and operate, and to supply power to the lateral wheel trolley. Each track has the following structure: a V-shaped track bar 210 is fixed on a rectangular tube 207, and a conductive copper strip 209 is provided on the outwardly protruding V-shaped end of the V-shaped track bar. An insulating layer 208 is also laid between the conductive copper strip and the V-shaped track bar. An insulating protective cover 204 is provided on the top of the V-shaped track bar. A dustproof plate 205 is installed below the two tracks. A magnet 202 and an RFID card 203 are installed on the dustproof plate to cooperate with the Hall sensor and RFID reader on the lateral wheel trolley, respectively.

[0069] I. Composition:

[0070] 1. Composition of the side-wheel trolley:

[0071] The side-wheel trolley consists of a main body, control circuit board, rechargeable battery, full-axle rectifier, power manager, V-wheel geared motor mounting assembly, RFID reader, Hall sensor, distance sensor, WIFI antenna, touch switch, three-color indicator light, power switch button, start button, and loading tray.

[0072] (1) Body body: The body body consists of a shell, battery support plate, control circuit board mounting plate, full axle mounting box, V-shaped conductive wheel, cover, loading tray movable clip, loading tray fixing clip, V-shaped wheel motor mounting plate assembly, distance sensor mounting bracket, and Hall sensor mounting bracket.

[0073] (2) Control Circuit Board: The control circuit board is installed on the control circuit board mounting plate inside the main body of the side wheel trolley. The control circuit board consists of various components such as circuit boards, chips, capacitors, and resistors. The control program is burned into the control circuit board. As the brain of the side wheel trolley, it has the following functions: receiving system host instructions and controlling the operation of the side wheel trolley; reporting operating status information to the host computer system; detecting battery power and reporting to the host computer system in real time, so that the administrator can keep track of the battery power in real time.

[0074] (3) Rechargeable battery: The rechargeable battery is installed on the battery support plate inside the side wheel trolley. When the side wheel trolley runs to a place where the V-shaped conductive track can no longer provide power to the side wheel trolley, the dual power automatic switch switches to the rechargeable battery to provide power to the control circuit board and motor of the side wheel trolley, ensuring the continuous operation of the side wheel trolley.

[0075] (4) Full-bridge rectifier: The full-bridge rectifier is installed on one side of the control circuit board mounting plate inside the main body of the side-wheel trolley. Its input line is connected to the V-shaped conductive wheel, and its output line is connected to the control circuit board. Its function is to rectify and transform the uncertain positive and negative current supplied by the rail into a definite positive and negative current for use by the control circuit board and the trolley motor.

[0076] (5) Dual Power Automatic Switch: The dual power automatic switch is installed on one side of the control circuit board mounting plate inside the main body of the side-wheel trolley. Its spare input line is connected to the battery, its normal input line is connected to the V-shaped conductive wheel, and its output line is connected to the control circuit board. Its function is: under normal circumstances, the side-wheel trolley obtains power through contact between the V-shaped conductive wheel on the trolley and the conductive strip in the conductive side track; when the side-wheel trolley cannot obtain power through contact with the conductive strip in the conductive side track, the dual power automatic switch must immediately switch to the trolley battery to supply power to the trolley.

[0077] (6) V-Gear Reducer Motor Mounting Assembly: A V-gear reducer motor assembly consists of a V-gear, a reducer motor, and a sliding device. The sliding device is assembled from a reducer motor mounting plate, a spring, a slider, and a slide rail. The V-gear reducer motor assembly is mounted and fixed to the bottom of the four corners inside the side wheel trolley's shell via the slide rails, and is the power component of the side wheel trolley.

[0078] (7) RFID reader: The RFID reader is installed on the outer surface of the bottom of the side wheel trolley shell, in the middle of the bottom of the side wheel trolley shell. Together with the RFID cards on the track, it forms an RFID positioning system. The RFID reader reads the encoded information in the RFID card to determine the location of the trolley.

[0079] (8) Hall sensor: The Hall sensor is installed outward on the mounting hole in the middle of the bottom of the side wheel trolley shell. Together with the magnet on the track, it forms a magnetic positioning system. The position of the trolley is accurately located by sensing the magnet through the Hall sensor.

[0080] (9) Distance sensor: There are circular holes in the middle of the four side walls of the side wheel car body. Distance sensors are installed inside the holes to detect the distance between the side wheel car and the surrounding obstacles in real time, which serves as the basis for judging whether the side wheel car needs to stop or turn.

[0081] ⑽ WiFi antenna: A WiFi antenna is installed on the top surface of the side wheel vehicle's canopy for real-time communication with the system host to send and receive relevant command information.

[0082] 11. Touch switch: A touch switch is installed on the cover of the side wheel trolley to sense whether the side track trolley is equipped with a loading tray.

[0083] 12. Three-color indicator lights: Two three-color indicator lights are prominently installed on the top surface of the side-wheel trolley's cover. One is a running indicator light, used to display the operating status. If the side-wheel trolley is operating normally, it displays green; if the side-wheel trolley experiences a partial malfunction but can still continue to operate, such as a damaged geared motor or a faulty touch switch, it displays yellow; if the side-wheel trolley stops operating due to a malfunction, it displays red. The other is a loading tray installation indicator light. If a loading tray is loaded on the side-wheel trolley, it displays green; if the side-wheel trolley is stopped and waiting to load a loading tray, it displays yellow; if the loading tray is removed from the side-wheel trolley while it is in operation, it displays red.

[0084] 13. Power switch button: A power switch button is installed on the side wall of the side wheel trolley shell, which serves to turn the trolley on and off.

[0085] 14. Start button: A start button is installed on the side of the side wheel trolley shell, which controls whether the side wheel trolley starts running when powered on.

[0086] 12. Loading Tray: The loading tray is a disc-shaped container. It is mounted on the side-wheel trolley cover using movable and fixed clips. It is used to load medicinal herbs and other items. The movable and fixed clips on the cover allow for quick disassembly and installation of the loading tray.

[0087] II. Working and operating mode of the side-wheel trolley:

[0088] 1. Power Supply Mode: The side-wheel trolley adopts a hybrid power supply mode of on-rail power and battery power. An automatic dual-power switcher enables automatic switching between the two power supply modes. The rechargeable battery capacity of the side-wheel trolley must be sufficient to ensure that the trolley can still operate under load for more than 2 hours even in the event of a complete power outage from the track.

[0089] 2. Operating Speed ​​Design: The maximum designed operating speed for the side-wheel trolley is 1.2 m / s, the maximum usable operating speed is 1 m / s, and the normal operating speed is 0.8 m / s. The purpose of these speed specifications is to ensure both high efficiency and safety and stability during trolley operation.

[0090] 3. Deceleration function: The side-wheel trolley has a deceleration function, which can realize the advance deceleration of the side-wheel trolley before positioning and parking or anti-collision parking during operation, ensuring the safe operation of the trolley.

[0091] 4. Communication Function: The side-wheel trolley communicates wirelessly with the host computer system via Wi-Fi, enabling remote monitoring and control of the trolley and the host computer system.

[0092] 5. Obstacle Avoidance Function: During operation, the side-wheel vehicle can actively detect obstacles ahead by using distance sensors on its four sides, and automatically decelerate and stop to avoid collisions. At the same time, the side-wheel vehicle reports an obstacle alarm to the host computer system.

[0093] 6. Operation and positioning methods:

[0094] Positioning method: The side-wheel trolley uses an RFID reader to read the RFID cards on the track to obtain position information, and then uses a Hall sensor to sense the magnet that matches the RFID card to achieve precise positioning.

[0095] Parking method: When the lateral wheel trolley is about to reach the point where it needs to park, the RFID reader on the lateral wheel trolley reads the RFID card on the track to know that it has reached the designated parking point. The lateral wheel trolley begins to decelerate. When the lateral wheel trolley travels to the Hall sensor and senses the magnet that matches the RFID card, it stops.

[0096] Parking mode:

[0097] (1) When the lateral wheel trolley reaches a parking position, the RFID reader of the lateral wheel trolley reads the RFID card on the track to obtain the position information. While decelerating, it reports the position information to the host computer system. If the host computer system determines that it needs to park at this position, the host computer system sends a parking command to the lateral wheel trolley. After receiving the parking command, the lateral wheel trolley parks when the Hall sensor detects the magnet that matches the RFID card.

[0098] (2) When the lateral wheel trolley reaches a parking position, the RFID reader of the lateral wheel trolley reads the RFID card on the track to obtain the position information. While decelerating, it reports the position information to the host computer system. If the host computer system determines that it does not need to park at this position, the host computer system sends a continue driving command to the lateral wheel trolley. After receiving the continue driving command, the lateral wheel trolley starts to accelerate towards the next positioning point and does not need to park at the magnet point associated with the RFID card.

[0099] (3) If the lateral wheel trolley starts to decelerate when reading the RFID card from the RFID reader, and still has not received a command from the host computer system when the Hall sensor detects the magnet associated with the RFID card, the lateral wheel trolley must stop at the magnet position and wait for the command. If the lateral wheel trolley still does not receive a command within the specified time, the lateral wheel trolley will alarm the track trolley system and continue to stop and wait for processing.

[0100] (4) When the lateral wheel trolley moves from one positioning point to the next and reaches the new positioning point, if the RFID reader fails to read the RFID card at the new positioning point, and the Hall sensor of the lateral wheel trolley senses another new magnet, the lateral wheel trolley can determine that the Hall sensor is repeatedly sensing the magnet at intervals. In this case, the lateral wheel trolley must brake and stop immediately, and immediately alarm the host computer system and wait for processing.

Claims

1. A side-wheeled trolley, characterized in that, The cubic body is composed of a car shell (1) and a car shell top plate (1f) fastened together. The car shell is composed of a front side plate (1a), a rear side plate (1b), a left side plate (1c), a right side plate (1d), and a car shell bottom plate (1e) as an integral part. Four V-shaped wheels (17) are evenly distributed under the square car shell bottom plate. Four motor drive devices are arranged in a centrally symmetrical manner. Each motor drive device (37) consists of: a V-shaped wheel (17) installed on the output shaft of a reduction motor (14) perpendicular to the bottom plate extending downwards from the outer end of the bottom plate. The reduction motor is installed on a reduction motor mounting plate (15). A slide rail (18) is installed symmetrically on both sides of the diagonal of the square on the bottom plate. The two ends of the reduction motor mounting plate are fixed to a slider (19) by bolts (20). The two sliders form a sliding fit relationship with the two slide rails respectively. A tension spring (16) is installed between the reduction motor mounting plate and the corresponding car shell adjacent side plates. The tension spring is arranged along the diagonal of the square on the bottom plate. A V-shaped conductive wheel (28) is installed between two adjacent V-shaped wheels on the bottom plate of the vehicle body for contacting and receiving electricity from the conductive lateral rail. The movement trajectory of each V-shaped conductive wheel and the two adjacent V-shaped wheels is the same straight line. An RFID reader (36) and a Hall sensor (35) are installed on the bottom plate for cooperating with the RFID card and Hall magnet on the conductive lateral rail, respectively. A WIFI antenna (21), a running indicator (24), a loading tray indicator (25), and a loading tray quick loading and unloading mechanism are installed on the top plate of the vehicle body. Hall sensors (29) and distance sensors (30) are installed on the front, rear, left and right uprights respectively, and heat dissipation holes (31) are opened. A start button (33) is installed on the front upright, a power switch (32) is installed on the left upright, and a charging port (34) for charging the battery (8) is installed on the rear upright. The dual power automatic switch (3) and the control circuit board (2) are both mounted on the mounting plate (6), and the mounting plate (6) and the battery (8) are installed in the inner cavity of the vehicle body; The four V-shaped wheels are arranged symmetrically in the top and bottom and symmetrically in the left and right. The center line of the output shaft of the reduction motor corresponding to each V-shaped wheel is perpendicular to and intersects the diagonal line corresponding to the square of the base plate. One end of the tension spring is fixed at the junction of the adjacent two side uprights, and the other end is fixed on the tension spring clip (16a) on the geared motor mounting plate (15); it also has a loading tray (38), with reinforcing ribs (38b) on the outside of the loading tray, and a quick-release port (38a) on the lower periphery of the loading tray; the quick-release mechanism of the loading tray is as follows: a fixed clip (23) is installed on one side of the top plate, a movable clip (27) is installed on the other side of the top plate, a tension spring is fixed between the bottom of the movable clip and the top plate, and a spring piece (39) with a torsion spring is installed on the inner side of the tension spring on the top plate, which is not affected by external forces. When force is applied, the spring clip, under the action of the torsion spring, can lift the loading tray upwards. During installation, align the quick-release port at one end of the loading tray with the fixing clip. Under the downward force, the quick-release port at the other end of the loading tray causes the movable clip to overcome the force of the tension spring and move outwards, so that the quick-release ports at both ends of the loading tray can be fitted and connected with the fixing clip and the movable clip respectively to complete the installation of the loading tray. When removing the loading tray, pull the movable clip outwards, thereby overcoming the force of the tension spring and causing the movable clip to move outwards and disengage from the quick-release port of the loading tray. Under the action of the torsion spring, the spring clip lifts the loading tray upwards, and finally the loading tray is removed. The top plate of the vehicle body is equipped with a touch switch (26) for sensing whether a loading tray is installed on the side wheel trolley. The touch switch is connected to the control circuit board. The spare input line (3c) of the dual power automatic switch (3) is connected to the battery (8). The common input line (3d) of the dual power automatic switch (3) is connected to the output line of the full bridge rectifier. The output line (3e) of the dual power automatic switch (3) is connected to the control circuit board. All Hall sensors (29) and distance sensors (30), as well as the RFID reader and Hall sensor (35) on the bottom plate of the vehicle body, are connected to the control circuit board. The WIFI antenna is wirelessly connected to the host computer system. The power switch and start button are both connected in the power supply circuit of the geared motor. The geared motor is connected to the control circuit board. The input line of the full bridge rectifier is connected to the V-shaped conductive wheel, and its output line is connected to the common input line (3d) of the dual power automatic switch (3). The conductive lateral track consists of two parallel tracks that allow the lateral wheel trolley to engage and operate, and provide power to the lateral wheel trolley. Each track has the following structure: a V-shaped track bar (210) is fixed on a rectangular tube (207), a conductive copper strip (209) is provided on the outwardly protruding V-shaped end of the V-shaped track bar, and an insulating layer (208) is laid between the conductive copper strip and the V-shaped track bar. An insulating protective cover (204) is provided on the top of the V-shaped track bar. A dustproof plate (205) is installed below the two tracks, and a magnet (202) and an RFID card (203) are installed on the dustproof plate to cooperate with the Hall sensor and RFID reader on the lateral wheel trolley, respectively.

2. A side-wheel trolley according to claim 1, characterized in that, It also has a battery support plate (10), which is mounted on the base plate by four screws (9). A full-bridge rectifier mounting box (7) is provided on the mounting plate (6). The full-bridge rectifier is installed in the full-bridge rectifier mounting box (7). Four double-through hexagonal copper pillars (11) are fixed between the mounting plate (6) and the battery support plate by screws (5). The battery (8) is placed on the battery support plate and located between the mounting plate (6) and the battery support plate. The four downwardly bent vertical plates (12) on the mounting plate are respectively inserted into the four strip holes on the battery support plate. The control circuit board (2) is mounted on the four support pillars (4) on the mounting plate (6). The dual power automatic switcher (3) is mounted on the mounting plate (6) by screws through the mounting holes (3b) on its two ear plates.

3. A side-wheel trolley according to claim 2, characterized in that, The Hall sensor (29) with nut one (29a) passes through the hole on the bracket (29b) and is screwed onto the bracket by another nut two (29c). The bracket is welded to the base plate. It also has a support (30a). The support structure is as follows: a short section rectangular tube is fixed on the base plate. The distance sensor (30) is installed in the short section rectangular tube of the support (30a). An outwardly expanding horn-shaped cylinder is fixed on the opening on one side of the short section rectangular tube. The base plate is nested on the support mounting plate (30b). The support mounting plate is welded to the bottom plate of the vehicle body. The full bridge rectifier mounting box (7) is installed on the mounting plate (6) with screws through two mounting holes two (7c). The full bridge rectifier is fixed in the full bridge rectifier mounting box with screws through the hole (7b) on the bottom plate of the full bridge rectifier mounting box.

4. A method for controlling the operation of a side-wheel trolley as described in any one of claims 1 to 3, characterized in that, 1) Power supply mode: The side wheel trolley adopts a hybrid power supply mode of on-rail power supply and battery power supply; the two power supply modes can be automatically switched through the dual power automatic switcher; the rechargeable battery capacity of the side wheel trolley must be sufficient to ensure that the side wheel trolley can still operate under load for more than 2 hours when the track is completely disconnected. 2) Operating speed design: The maximum designed operating speed of the side-wheel trolley is 1.2 m / s, the maximum operating speed is 1 m / s, and the normal operating speed is 0.8 m / s; the purpose of specifying the speed value is to ensure the efficiency of the trolley while also ensuring its safety and stability. 3) Deceleration function: The side wheel trolley has a deceleration function, which can realize the advance deceleration of the side wheel trolley before positioning and parking or anti-collision parking during operation, ensuring the safe operation of the trolley; 4) Communication function: The side-wheel trolley communicates with the host computer system via wireless Wi-Fi, enabling remote monitoring and control of the trolley and the host computer system; 5) Obstacle avoidance function: During operation, the side-wheel vehicle can actively detect obstacles ahead by measuring distance with the distance sensors on its four sides, and actively slow down and stop to avoid collisions; at the same time, the side-wheel vehicle reports an obstacle alarm to the host computer system. 6) Operation and positioning methods: Positioning method: The side-wheel trolley uses an RFID reader to read the RFID card on the track to obtain position information, and then uses a Hall sensor to sense the magnet that is matched with the RFID card to achieve precise positioning; Parking method: When the lateral wheel trolley is about to reach the point where it needs to park, the RFID reader on the lateral wheel trolley reads the RFID card on the track and knows that it has reached the designated parking point. The lateral wheel trolley starts to decelerate and stops when the Hall sensor detects the magnet that matches the RFID card. Parking mode: (1) When the lateral wheel trolley reaches a parking position, the RFID reader of the lateral wheel trolley reads the RFID card on the track to obtain the position information. While decelerating, it reports the position information to the host computer system. If the host computer system determines that it needs to park at the parking position, the host computer system sends a parking command to the lateral wheel trolley. After receiving the parking command, the lateral wheel trolley stops when the Hall sensor detects the magnet that matches the RFID card. (2) When the lateral wheel trolley reaches a parking position, the RFID reader of the lateral wheel trolley reads the RFID card on the track to obtain the position information. While decelerating, it reports the position information to the host computer system. If the host computer system determines that it does not need to park at the parking position, the host computer system sends a continue driving command to the lateral wheel trolley. After receiving the continue driving command, the lateral wheel trolley starts to accelerate towards the next positioning point and does not need to park at the magnet point associated with the RFID card. (3) If the lateral wheel trolley starts to decelerate when reading the RFID card from the RFID reader, and still has not received a command from the host computer system when the Hall sensor detects the magnet associated with the RFID card, the lateral wheel trolley must stop at the magnet position and wait for the command. If the lateral wheel trolley still does not receive a command within the specified time, the lateral wheel trolley will alarm the track trolley system and continue to stop and wait for processing. (4) When the lateral wheel trolley moves from one positioning point to the next and reaches the new positioning point, if the RFID reader fails to read the RFID card at the new positioning point, and the Hall sensor of the lateral wheel trolley senses another new magnet, the lateral wheel trolley can determine that the Hall sensor is repeatedly sensing the magnet at intervals. In this case, the lateral wheel trolley must brake and stop immediately, and immediately alarm the host computer system and wait for processing.

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