Lateral rail trolley system

Abstract

A lateral track trolley system is composed of a system host, a lateral wheel trolley, a loading disc, a conductive lateral track, a lateral wheel trolley elevator, a lateral wheel trolley right-angle reversing device and the like. According to the lateral wheel trolley running loop line, one end of a ground type conductive lateral rail is connected with the ground outlet end of the second elevator, the other end of the ground type conductive lateral rail is connected with the ground inlet end of the first elevator through a right-angle reversing device, one end of an overhead type conductive lateral rail is connected with the overhead outlet end of the first elevator, and the other end of the overhead type conductive lateral rail is connected with the overhead inlet end of the second elevator. The trolley adopts an on-orbit power supply mode and a battery power supply mode, and on-orbit power supply is adopted normally. Through the lifting or descending function of the elevator device, the lateral wheel trolley can run in the conductive lateral rails with different heights, and right-angle reversing is achieved in a narrow running space. The invention has the characteristics of high trolley parking and positioning, intelligent collision prevention, flexible track arrangement, low energy consumption and the like.

Description

Technical Field

[0001] The present invention relates to a rail trolley type logistics system, in particular to a system used in conjunction with an intelligent Chinese medicine cabinet system. Background Art

[0002] Traditional Chinese medicine is profound and extensive. Chinese medicine prescriptions are usually only targeted at specific patients and diseases. The effects of the same medicine in different prescriptions vary greatly. The traditional important drug dispensing process is: prescription writing, prescription review, drug picking and preparation, proofreading, and drug distribution. At present, almost all Chinese medicine pharmacies retain the traditional manual preparation method, and important cabinets usually store hundreds of Chinese medicinal materials, which are stored in thousands of medicine boxes. This makes the drug picking process of Chinese medicine pharmacists very time-consuming, laborious and prone to errors.

[0003] Workers at traditional Chinese medicine hospitals have made some useful explorations in the intelligentization of Chinese medicine cabinets, such as "An intelligent Chinese medicine cabinet for traditional Chinese medicine" (CN215382438): the bottom of the Chinese medicine cabinet is a medicine cabinet, and the upper part is a medicine storage cabinet. The medicine storage cabinet is divided into several medicine boxes by baffles. The inside of the medicine cabinet is slidably connected to the medicine box, and the medicine box is equipped with a liquid crystal display to display patient information and prescription information, making it easier to get medicine.

[0004] Another example is the "Intelligent Chinese Medicine Cabinet Based on PLC Control" (CN215776883): by setting a PLC module on the Chinese medicine cabinet, the PLC module controls the corresponding medicine cabinet's medicine dispenser indicator to turn on according to the prescription, making it convenient for Chinese medicine pharmacists to adjust and dispense medicines.

[0005] The above patent document is an improvement only for the manual dispensing and preparation process, and is not suitable for the dispensing and picking of medicines mainly based on bulk medicinal materials and / or mainly based on medicinal materials in small packaging bags through the combination of different unit medicine cabinets.

[0006] In the main control system, the Chinese medicine formula receives the formula, reviews the formula until the formula is decomposed, and sends the medicine delivery instructions for each Chinese medicine slice in the formula to the intelligent Chinese medicine cabinet. A set of rail-type trolley system is yet to be configured to complete the medicine delivery transportation of each Chinese medicine slice in the formula, and complete the medicine replenishment operation and drug testing operation during the transportation process. Summary of the invention

[0007] The purpose of the present invention is to provide a lateral track trolley system with high trolley parking accuracy, high trolley operation efficiency and real-time performance, and intelligent anti-collision kinetic energy.

[0008] The object of the present invention is achieved in that:

[0009] A lateral track trolley system, wherein the lateral wheel trolley running loop consists of: one end of the ground-type conductive lateral track is connected to the ground exit end of the No. 2 elevator, and the other end is connected to the ground entrance end of the No. 1 elevator through a right-angle reversing device; one end of the overhead conductive lateral track is connected to the aerial exit end of the No. 1 elevator, and the other end is connected to the aerial entrance end of the No. 2 elevator;

[0010] The conductive lateral track is composed of two parallel tracks for the wheels of the lateral wheel trolley to engage and run and to supply power to the lateral wheel trolley. The structure of each track is as follows: a V-shaped track bar is fixed on the rectangular tube, a conductive copper bar is arranged on the outwardly protruding V-shaped outer end of the V-shaped track bar, and an insulating layer is also provided between the conductive copper bar and the V-shaped track bar, and an insulating protective cover is arranged on the top of the V-shaped track bar; a dustproof plate is installed below the two tracks, and a magnetic steel and an RFID card are installed on the dustproof plate for cooperating with the Hall sensor and the RFID card reader on the lateral wheel trolley respectively;

[0011] The bottom of the rectangular tube of the two parallel tracks is provided with a shock-absorbing block for preventing the tracks from directly contacting the ground, thereby forming a ground-type conductive lateral track;

[0012] A plurality of support frames are arranged at the bottom of the rectangular tubes of the two parallel tracks to form an overhead conductive lateral track;

[0013] The structure of the lift is as follows: the support frame is composed of four vertically arranged rectangular tubes and a plurality of cross bars connected between two adjacent vertical rectangular tubes; the lower ends of the four vertical rectangular tubes of the support frame are fixed to the lower base plate via mounting seats, and the lower base plate is provided with a lower limit stopper and a lower limit switch; the upper cover plate is fixed with four rectangular tube short sections on its bottom surface, which are respectively sleeved on the upper ends of the four vertical rectangular tubes and fixed by bolts; a control circuit board box with a control circuit board arranged therein is installed on the upper cover plate; a motor is installed on the upper cover plate; a motor shaft is connected to the upper end of a vertically arranged lead screw via a coupling; a lower end of the lead screw is fixed to an inner ring of a bearing installed on the lower base plate; a bearing is installed in a bearing sleeve, and a bearing sleeve is fixed on the lower base plate; The bottom plate; a slide rail is fixed on each of the two vertical moment tubes on the left side of the support frame, and a slider is movably mounted on each slide rail; the movable track support platform is equipped with two parallel V-shaped tracks for the operation of the lateral wheel trolley, and the movable track support platform is equipped with Hall magnets and RFID cards for cooperating with the Hall sensor and RFID card reader on the lateral wheel trolley from front to back, and the movable track support platform is fixed to the two sliders by screws through the two vertical plates on it, and the screw nut screwed on the screw is fixed to the movable track support platform; an upper limit stopper and an upper limit switch are respectively installed on the upper part of the two vertical moment tubes on the left side of the support frame;

[0014] The lower bottom plate is provided with a lower track connecting piece for connecting with the lower track, and the upper cross bar of the support frame is provided with an upper track connecting piece for connecting with the upper track;

[0015] The structure of the right-angle reversing device of the lateral wheel trolley is: a right-angle reversing track with a square area formed by the intersection of two longitudinal tracks and two transverse tracks; the track is composed of a V-shaped track bar used to cooperate with the wheels of the lateral wheel trolley and for the lateral wheel trolley to travel, which is fixed on a rectangular tube, and all the rectangular tubes of the track are fixed on a bottom plate, and the trolley entrance and trolley exit of the right-angle reversing track are respectively provided with a flip track assembly of the same structure in the transverse and longitudinal directions, and the structure of the flip track assembly is: a reduction motor is installed on the outer surface of the track, and a gear installed on the reduction motor shaft extending into the inner side of the track is meshed with a driven gear, and the driven gear is installed on a flip shaft, and the flip shaft is mounted on two bearings in a double bearing seat, and the base is installed with a shaft The double bearing seat of the bearing is fixed on the strip, the lower limit switch is installed on the strip, the upper limit switch is installed on the double bearing seat located between the two bearings, the base is fixed to the bottom plate through the strip by screws, the flip track is fixed on the flip shaft between the two bearing seats on the double bearing seat, a Hall magnet used for Hall sensor induction on the side wheel trolley is installed in the middle of the square area of ​​the right angle reversing track on the bottom plate, a first RFID card for the RFID card reader on the side wheel trolley is installed near the trolley entrance in the square area of ​​the right angle reversing track on the bottom plate, and a second RFID card for the RFID card reader on the side wheel trolley is installed on the bottom plate outside the trolley exit of the right angle reversing track;

[0016] The structure of the side-wheel trolley is as follows: the cube-shaped body is composed of a car body and a car body top plate, and the car body is integrated with a front side vertical plate, a rear side vertical plate, a left side vertical plate, a right side vertical plate and a car body bottom plate; four V-shaped wheels are evenly arranged under the square car body bottom plate, and four motor drive devices are arranged symmetrically with the center, and each motor drive device is composed of: a V-shaped wheel is installed on the outer end of the bottom plate extending downward from the output shaft of the reduction motor perpendicular to the bottom plate, and the reduction motor is installed on the reduction motor mounting plate, and a slide rail is respectively installed on both sides of the diagonal of the square on the bottom plate in a diagonally symmetrical manner, and both ends of the reduction motor mounting plate are respectively fixed to a slider by bolts, and the above two sliders form a sliding fit relationship with the two slide rails, and a tension spring is installed between the reduction motor mounting plate and the intersection of the corresponding two adjacent side vertical plates of the car body, and the tension spring is arranged along the diagonal direction of the bottom plate square;

[0017] A V-shaped conductive wheel is installed between two adjacent V-shaped wheels on the bottom plate of the vehicle shell, which is used to contact the conductive side track to receive electricity. The movement trajectory of each V-shaped conductive wheel and the two adjacent V-shaped wheels are in the same straight line; an RFID card reader and a Hall sensor are installed on the bottom plate, which are used to cooperate with the RFID card and Hall magnet on the conductive side track respectively; a WIFI antenna, an operating indicator light, a loading tray indicator light and a loading tray quick assembly and disassembly mechanism are installed on the top plate of the vehicle shell;

[0018] The front, rear, left and right side vertical plates are respectively equipped with Hall sensors and distance sensors and heat dissipation holes, and the front side vertical plate is equipped with a start button, the left side vertical plate is equipped with a power switch, and the rear side vertical plate is equipped with a charging port for battery charging;

[0019] The dual power automatic switch and the control circuit board are both installed on the mounting plate, and the mounting plate and the battery are installed in the inner cavity of the vehicle shell.

[0020] The present invention has the following technical features and advantages

[0021] 1. System independence: The lateral track trolley system is an independently operated system, which can be operated independently or in conjunction with other systems.

[0022] 2. High efficiency and real-time operation of trolleys: When the lateral wheel trolleys are idle, they are all parked in the departure area waiting for operation instructions. When the lateral track trolley system receives the operation instruction, it can dispatch 1∽n trolleys to run according to the instruction, which can efficiently realize the real-time reception, real-time transportation and fixed-point parking and unloading of the transported items.

[0023] 3. Flexibility of track layout: Since the lateral wheel trolley can run in a straight V-shaped track, a curved V-shaped track, and a right-angle turn in a right-angle V-shaped track, the difficulty of arranging a plane track is greatly reduced, and it is suitable for track layout on planes of various shapes; by adopting a special track lifting device, the lateral wheel trolley can run up and down on tracks of different heights, so that the track can be arranged in spaces of different heights to meet the operation of the lateral wheel trolley at different heights.

[0024] 4. Wide range of applications: The lateral track trolley system can operate independently or in conjunction with other systems. In the "Smart Chinese Medicine Pharmacy Chinese Medicine Piece Intelligent Dispensing and Dispensing System", it is coordinated with the main business system, dispatch subsystem, smart Chinese medicine cabinet subsystem, missing medicine replenishment subsystem and drug inspection subsystem to complete the task. Due to the independence of the lateral track trolley system, the real-time operation of the trolley and the flexibility of the track layout, it can replace the conveyor belt device for factory production line layout, and can also be used for the classification, sorting and transportation of items in logistics plants.

[0025] 5. High parking positioning accuracy: By adopting a positioning technology solution that combines RFID positioning and magnetic steel positioning, the lateral wheel trolley can achieve precise positioning and parking during operation. When the lateral wheel trolley runs in the V-shaped track to the position where it needs to park, it will first read the code of the RFID card through the RFID card reader, and know that it needs to park at this position. Then the trolley control program will control the lateral wheel trolley to decelerate immediately. When the Hall sensor senses the positioning magnetic steel matching the RFID card, the trolley control program will control the lateral wheel trolley to stop immediately and stop running, which can achieve a positioning error of ≤10mm.

[0026] 6. Intelligent anti-collision function: Distance sensors are set on all four sides of the side-wheel trolley. During the operation of the side-wheel trolley, the distance between it and the surrounding obstacles is detected in real time through the distance sensors. Since the side-wheel trolley runs in a V-shaped track, there is no possibility of obstacles in other directions except the forward direction. Therefore, the trolley control program will automatically ignore the distance measurement in the other three directions except the forward direction, and only judge the distance measurement in the forward direction. Then, by judging the distance length of the obstacles in the forward direction, it will slow down or stop, thereby avoiding collision with obstacles in the forward direction and realizing intelligent anti-collision.

[0027] 7. Low energy consumption: When the lateral track trolley system is running, only the lateral wheel trolley that receives the command will participate in the operation, and the lateral wheel trolley that does not receive the command will wait for the command in the departure area, thus achieving low power consumption operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a three-dimensional view of the side wheel trolley and the loading tray.

[0029] Figure 2 It is a three-dimensional diagram of the side-wheeled trolley.

[0030] Figure 3 , Figure 4 They are respectively the exploded view and stereoscopic view of the main internal components of the side-wheel trolley.

[0031] Figure 5 It is a three-dimensional diagram of the motor drive device (with a sliding mechanism).

[0032] Figure 6 yes Figure 5 Top view of the .

[0033] Figure 7 , Figure 8 , Fig. 9 , Fig.10 , Fig.11 , Fig.12 They are Figure 2The front view of the vehicle shell top plate, front side upright plate, left side upright plate, rear side upright plate, right side upright plate and vehicle shell bottom plate is shown.

[0034] Fig.13 , Fig.14 They are the top view and three-dimensional view of the car without electronics inside.

[0035] Fig.15 yes Fig.13 Enlarged view of part C.

[0036] Fig.16 It is a top view and a three-dimensional view of the electronics inside the car.

[0037] Fig.17 , Fig.18 They are Figure 5 The schematic diagram of the motor drive device shown is when the tension spring receives a force in the corresponding direction, and the schematic diagram of the corresponding moving direction of the reduction motor (including the mounting plate).

[0038] Fig.19 , Fig. 20 They are Fig.17 Fig.18 Top view of the .

[0039] Fig.21 , Fig. 22 , Fig.23 , Fig.24 They are a three-dimensional diagram of the Hall sensor fixed on the bracket, an exploded diagram, a three-dimensional diagram installed on a side panel of the vehicle shell, and a three-dimensional diagram installed inside the vehicle shell ( Fig.23 yes Fig.24 (enlarged view of part A).

[0040] Fig.25 , Fig.26 , Fig. 27 They are a three-dimensional diagram of the distance sensor's support, an assembly diagram, and a three-dimensional diagram of the sensor installed in the vehicle shell.

[0041] Fig.28 yes Fig. 27 Enlarged view of part B.

[0042] Fig.29 yes Fig.26 Sectional view of the support shown.

[0043] Fig.30 , Fig.31 , Fig.32 They are the top view, left view and stereo view of the control circuit board.

[0044] Fig.33 , Fig.34 , Fig.35 They are the front view, top view and stereoscopic view of the dual power automatic switcher.

[0045] Fig.36 , Fig.37 They are the cross-sectional view and stereoscopic view of the double-pass hexagonal copper column.

[0046] Fig.38 , Fig.39 They are the top view and three-dimensional view of the full-bridge rectifier mounting box.

[0047] Fig.40 , Fig.41 They are respectively a top view and a three-dimensional view of the battery support plate.

[0048] Fig.42 This is the front view of the loading tray.

[0049] Fig.43 yes Fig.42 Section along line DD.

[0050] Figures 44-47 This is a schematic diagram of the loading disk installation process.

[0051] Fig.48 It is a stereoscopic diagram of a ground conductive lateral track and an elevated conductive lateral track.

[0052] Fig.49 is a cross-sectional view of a conductive lateral track.

[0053] Fig.50 It is a three-dimensional diagram of the elevator.

[0054] Fig.51 This is an exploded view of the elevator.

[0055] Fig.52 It is a stereoscopic diagram of the right-angle steering device of the side-wheel trolley track.

[0056] Fig.53 yes Fig.52 Exploded view of the flip track assembly shown.

[0057] Fig.54 yes Fig.53 A perspective view of the flip track assembly is shown.

[0058] Fig.55 yes Fig.54 main view.

[0059] Fig.56 , Fig.57 yes Fig.52 Stereoscopic view without and with flip track.

[0060] Fig.58 , Fig.59 , Fig.60They are three-dimensional images of the overall system of the present invention from different viewing angles.

[0061] Fig.61 It is a schematic diagram of the operation of the lateral wheel trolley in contact with the conductive lateral track.

[0062] Fig.62 , Fig.63 , Fig.64 , Fig.65 , Fig.66 It is a schematic diagram of the side wheel trolley driving in and out of the elevator.

[0063] Fig.67 , Fig.68 , Fig.69 , Fig.70 It is a schematic diagram of the operation process of the side-wheel trolley in the right-angle reversing device.

[0064] Fig.71 , Fig.72 , Fig.73 , Fig.74 , Fig.75 It is a schematic diagram of the operation process of the side-wheel trolley in cooperation with the right-angle reversing device and the elevator. DETAILED DESCRIPTION

[0065] Figures 52-57 Among them, (flip shaft) mounting hole 322, (base 11) mounting hole 324, bearing mounting hole 427, mounting seat 423, coupling 17.

[0066] Figure 3 Fig.49 Fig.50 Fig.52 The figure shows a lateral track trolley system, wherein the lateral wheel trolley running loop consists of: one end of the ground-type conductive lateral track 200 is connected to the ground exit end of the No. 2 elevator 400a, and the other end is connected to the ground entrance end of the No. 1 elevator 400 through the right-angle reversing device 300; one end of the overhead conductive lateral track 200 is connected to the aerial exit end of the No. 1 elevator, and the other end is connected to the aerial entrance end of the No. 2 elevator;

[0067] The conductive lateral track 200 is composed of two parallel tracks for the wheels of the lateral wheel trolley to engage and run and to supply power to the lateral wheel trolley. The structure of each track is as follows: a V-shaped track bar 210 is fixed on a rectangular tube 207, a conductive copper bar 209 is arranged on the outwardly protruding V-shaped outer end of the V-shaped track bar, and an insulating layer 208 is also provided between the conductive copper bar and the V-shaped track bar, and an insulating protective cover 204 is arranged on the top of the V-shaped track bar; a dustproof plate 205 is installed below the two tracks, and a magnetic steel 202 and an RFID card 203 are installed on the dustproof plate for cooperating with the Hall sensor and the RFID card reader on the lateral wheel trolley 100 respectively;

[0068] The bottom of the rectangular tube of the two parallel tracks is provided with a shock-absorbing block for preventing the tracks from directly contacting the ground, thereby forming a ground-type conductive lateral track;

[0069] A plurality of support frames 201 are arranged at the bottom of the rectangular tubes of the two parallel tracks to form an overhead conductive lateral track;

[0070] The structure of the lift 400, 400a is as follows: the support frame 416 is composed of four vertically arranged rectangular tubes and a plurality of cross bars 409 connected between two adjacent vertical rectangular tubes; the lower ends of the four vertical rectangular tubes of the support frame are fixed to the lower base plate 413 via mounting seats 428, and the lower base plate is provided with a lower limit stopper 412 and a lower limit switch 414; the upper cover plate 408 is respectively sleeved on the upper ends of the four vertical rectangular tubes through four rectangular tube short sections 423 fixed to its bottom surface and fixed by bolts; a control circuit board box 407 in which a control circuit board 422 is arranged is installed on the upper cover plate; a motor 406 is installed on the upper cover plate; a motor shaft is connected to the upper end of a vertically arranged lead screw 402 via a coupling; a lower end of the lead screw is fixed to an inner ring of a bearing 426; the bearing is installed in a bearing sleeve (427), and the bearing sleeve is fixed On the lower bottom plate; a slide rail 418 is fixed on each of the two vertical rectangular tubes on the left side of the support frame, and a slider 405 is movably mounted on each slide rail; the movable track support platform 403 is installed with two parallel V-shaped tracks 404 and 410 for the side wheel trolley 100 to run, and the movable track support platform 403 is installed with Hall magnets 424 and RFID cards 411 from front to back for cooperating with the Hall sensor and RFID card reader on the side wheel trolley, and the movable track support platform is fixed to the two sliders 405 by screws through the two vertical plates thereon, and the screw nut 421 screwed on the screw is fixed to the movable track support platform; an upper limit stopper 420 and an upper limit switch 419 are respectively installed on the upper part of the two vertical rectangular tubes on the left side of the support frame;

[0071] The lower bottom plate is provided with a lower track connecting piece 401 for connecting with the lower track, and the upper cross bar of the support frame is provided with an upper track connecting piece 415 for connecting with the upper track;

[0072] The upper track connecting piece and the lower track connecting piece are used to fix the upper V-shaped track and the lower V-shaped track.

[0073] Matching method: Since the lower track connecting piece is U-shaped, the V-shaped track reinforcement rectangular tube at the bottom of the lower V-shaped track can be directly placed into the U-shaped groove, and then screws are inserted into the left and right ends of the lower track connecting piece to fix it to the V-shaped track.

[0074] The upper track connecting piece is C-shaped, so the V-shaped track and the upper connecting piece are connected by directly inserting the side of the V-shaped track into the C-shaped opening, and then using screws to penetrate directly into it from the bottom of the upper connecting piece to fix the V-shaped track in the upper connecting piece.

[0075] The structure of the right-angle reversing device 300 of the lateral wheel trolley is: a right-angle reversing track with a square area formed by the intersection of two longitudinal tracks and two transverse tracks; the track is composed of a V-shaped track bar 320 used to cooperate with the wheels of the lateral wheel trolley and for the lateral wheel trolley to travel, which is fixed on a rectangular tube 316, and all the rectangular tubes of the track are fixed on a bottom plate 314, and the trolley entrance and trolley exit of the right-angle reversing track are respectively provided with a flip track assembly of the same structure in the transverse and longitudinal directions. The structure of the flip track assembly is: a reduction motor 301 is installed on the outer surface of the track, and a gear 303 installed on the shaft of the reduction motor 301 extending into the inner side of the track is meshed with a driven gear 304, and the driven gear is installed on a flip shaft 305, and the flip shaft is mounted on two bearings 306 and 307 in a double bearing seat, and a base 311 The double bearing seat with bearings installed is fixed on a strip, the lower limit switch 312 is installed on the strip, the upper limit switch 313 is installed on the double bearing seat located between the two bearings, the base is fixed to the bottom plate 314 by screws through the strip, the flip track 310 is fixed on the flip shaft 305 located between the two bearing seats on the double bearing seat, the square area of ​​the right-angle reversing track on the bottom plate 314 is installed with a Hall magnet 317 used for Hall sensor induction on the side-wheel trolley, the square area of ​​the right-angle reversing track on the bottom plate near the trolley entrance is installed with a first RFID card 319 for the RFID card reader on the side-wheel trolley to read, and the bottom plate outside the trolley exit of the right-angle reversing track is installed with a second RFID card 318 for the RFID card reader on the side-wheel trolley to read;

[0076] The structure of the side-wheeled trolley 100 is as follows: the cube-shaped body is composed of a car body 1 and a car body top plate 1f, and the car body is integrated with a front side vertical plate 1a, a rear side vertical plate 1b, a left side vertical plate 1c, a right side vertical plate 1d and a car body bottom plate 1e; four V-shaped wheels 17 are evenly arranged under the square car body bottom plate, and four motor drive devices are arranged symmetrically with respect to the center, and each motor drive device 37 is composed of: a V-shaped wheel 17 is installed on the outer end of the output shaft of the reduction motor 14 perpendicular to the bottom plate and extending downward from the bottom plate, and the reduction motor is installed on the reduction motor mounting plate 15, and a slide rail 18 is respectively installed on both sides of the diagonal of the square on the bottom plate in a diagonally symmetrical manner, and both ends of the reduction motor mounting plate are respectively fixed to a slider 19 by bolts 20, and the above two sliders respectively form a sliding fit relationship with the two slide rails, and a tension spring 16 is installed between the reduction motor mounting plate and the intersection of the corresponding two adjacent side vertical plates of the car body, and the tension spring is arranged along the diagonal direction of the square of the bottom plate;

[0077] A V-shaped conductive wheel 28 is installed between two adjacent V-shaped wheels on the bottom plate of the vehicle shell, and is used to contact the conductive side track to receive electricity. The movement trajectory of each V-shaped conductive wheel and the two adjacent V-shaped wheels is in the same straight line; an RFID card reader 36 and a Hall sensor 35 are installed on the bottom plate, which are used to cooperate with the RFID card on the conductive side track and the Hall magnet respectively; a WIFI antenna 21, an operation indicator light 24, a loading tray indicator light 25 and a loading tray quick assembly and disassembly mechanism are installed on the top plate of the vehicle shell;

[0078] The front, rear, left and right side vertical plates are respectively equipped with Hall sensors 29 and distance sensors 30 and heat dissipation holes 31, and the front side vertical plate is equipped with a start button 33, the left side vertical plate is equipped with a power switch 32, and the rear side vertical plate is equipped with a charging port 34 for charging the battery 8;

[0079] 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 mounted in the inner cavity of the vehicle shell.

[0080] In the elevator, there are two upper limit blocks, which are respectively installed on the two vertical rectangular tubes on the left side of the support frame; there are four lower limit blocks, which are respectively installed on the lower base plate adjacent to the four mounting seats; in the four vertical rectangular tubes of the support frame 416, the length of each rectangular tube is greater than the width, the width of the two vertical rectangular tubes on the left side of the support frame is the same as the length of the two vertical rectangular tubes on the right side, and four cross bars are evenly distributed and fixedly connected on the outer side surfaces of the two vertical rectangular tubes on the left side of the support frame; two cross bars are fixedly connected between the two vertical rectangular tubes on the right side of the support frame and between the two vertical rectangular tubes on the right side and the adjacent left vertical rectangular tubes respectively; a reinforcing rectangular tube 425 is fixedly connected between the two mounting seats of the two vertical rectangular tubes on the left side of the lower base plate; the control board circuit box is composed of a box body 407a and a box cover 407b.

[0081] In the right-angle reversing device, a gear cover 302 is provided on the mutually meshing gear 303 and the driven gear 304, and the gear cover is fixed to the outer side of the track by screws; bearing retaining springs 308 and 309 are also provided on the outer sides of the two bearings on the flip shaft; a control circuit board box 315 is installed on the outer side of the transverse track: it is composed of a box cover 315b and a box body 315c, and the control circuit board 315a is arranged in the box body; it also has a right-angle connector 321, which is composed of two ear plates 321a and two bottom plates 321b integrated with a rectangular parallelepiped; the right-angle connector is arranged at the intersection of the fracture of the above-mentioned longitudinal track and the transverse track: the two rectangular tubes of the longitudinal track and the transverse track are respectively placed on two pads, and the two V-shaped track bars of the longitudinal track and the transverse track are respectively fixed on the two ear plates by screws, and the rectangular parallelepiped coincides with the fracture at the intersection of the longitudinal track and the transverse track; the bottom of the longitudinal track and the transverse track is also provided with a pad 323 for keeping the bottom surface of the entire right-angle reversing track flush.

[0082] In the side-wheel trolley, the four V-shaped wheels are symmetrical up and down and left and right. The axis center line of the output shaft of the reduction motor corresponding to each V-shaped wheel is perpendicular to and intersects with the diagonal line corresponding to the square of the bottom plate; one end of the tension spring is fixed at the intersection of the adjacent two side vertical plates, and the other end is fixed to the tension spring clamp 16a on the reduction motor mounting plate 15; it also has a loading tray 38, the outside of the loading tray is provided with a reinforcing rib 38b, and the lower periphery of the loading tray is provided with a quick disassembly port 38a; the quick disassembly mechanism of the loading tray is as follows: the fixed clamp 23 is installed on one side of the top plate, the movable clamp 27 is installed on the other side of the top plate, a tension spring is fixed between the bottom of the movable clamp and the top plate, and the inner side of the tension spring on the top plate A spring piece 39 equipped with a torsion spring is installed. When no external force is applied, the spring piece can push the loading tray upward under the action of the torsion spring; when installing, the quick installation and removal opening at one end of the loading tray is aligned with the fixed card, and the quick installation and removal opening at the other end of the loading tray is forced downward to make the movable card overcome the force of the tension spring and move outward, and the quick installation and removal openings at both ends of the loading tray are respectively engaged with the fixed card and the movable card to complete the installation of the loading tray; when removing the loading tray, the movable card is pulled outward, thereby overcoming the force of the tension spring and making the movable card move outward and disengage from the quick installation and removal opening of the loading tray, and the spring piece pushes the loading tray upward under the action of the torsion spring and finally removes the loading tray; it also has a battery support plate 10 The battery support plate 10 is mounted on the bottom 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 mounted in the full-bridge rectifier mounting box 7. Four double-pass hexagonal copper columns 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 the two 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 set and fixed on the four support columns 4 on the mounting plate 6; the dual power automatic switch 3 is mounted on the mounting plate 6 by screws through the mounting holes 3b on its two ear plates; the nuts 29 are provided thereon The front end of the Hall sensor 29 of a passes through the hole on the bracket 29b and is screwed and fixed to the bracket through another nut 29c, and the bracket is welded to the bottom plate; it also has a support 30a, and the support structure is as follows: a short pitch tube is fixed on the bottom plate, the distance sensor 30 is installed in the short pitch tube of the support 30a, and an outwardly expanding trumpet-shaped cylindrical bottom plate is fixed on an opening on one side of the short pitch tube and is nested on the support mounting plate 30b, and the support mounting plate is welded to the bottom plate of the vehicle shell; the full-bridge rectifier mounting box 7 is installed on the mounting plate 6 through two mounting holes 7c by screws, and the full-bridge rectifier is fixed in the full-bridge rectifier mounting box through the bottom plate hole 7b of the full-bridge rectifier mounting box by screws;The top plate of the vehicle shell is provided with a touch switch 26 for sensing whether the loading tray is installed on the lateral wheel trolley. The touch switch is connected to the control circuit board. The backup incoming line 3c of the dual power automatic switch 3 is connected to the battery 8. The common incoming line 3d of the dual power automatic switch 3 is connected to the outgoing line of the full-bridge rectifier. The incoming line of the full-bridge rectifier is connected to the V-shaped conductive wheel. The outgoing line 3e of the dual power automatic switch 3 is connected to the control circuit board. All the Hall sensors 29 and the distance sensor 30 as well as the RFID card reader and the Hall sensor 35 on the bottom plate of the vehicle shell are connected to the control circuit board. The WIFI antenna is wirelessly connected to the upper computer system. The power switch and the start button are connected to the power supply circuit of the reduction motor. The reduction motor is connected to the control circuit board. The incoming line of the full-bridge rectifier is connected to the V-shaped conductive wheel, and its outgoing line is connected to the common incoming line 3d of the dual power automatic switch 3. ;

[0083] The full-bridge rectifier is respectively connected to the dual-power automatic switch 3 and the four V-shaped conductive wheels of the lateral wheel trolley. Since the V-shaped tracks on the left and right sides are respectively the positive and negative poles and cannot be changed, the two V-shaped conductive wheels at the bottom of the trolley in contact with the V-shaped track will keep changing after each reversal. At this time, the positive and negative poles on the V-shaped track will enter different V-shaped tracks and cannot change with the change of the V-shaped conductive wheel. This causes the V-shaped conductive wheel that should originally flow into the positive pole to sometimes flow into the positive pole electricity and sometimes flow into the negative pole electricity. If there is no full-bridge rectifier, the electricity on the V-shaped track will directly flow into the control circuit board through the V-shaped conductive wheel and directly through the dual-power automatic switch, which will cause the line originally connected to the positive pole to flow into the negative pole electricity. When the full-bridge rectifier is installed, no matter whether the positive or negative electricity flows in, the electricity that finally flows into the control circuit board after passing through the full-bridge rectifier will be the positive current flowing into the wire connected to the positive pole, and the negative current flowing into the wire connected to the negative pole, and there will be no positive current flowing into the wire connected to the negative pole, and negative current flowing into the wire connected to the positive pole. Therefore, no matter how the car changes direction, no matter which direction the positive and negative poles on the V-shaped track enter from the bottom of the car, they will eventually flow into the control circuit board from the fixed electrode wire.

[0084] The ground-type conductive lateral track is provided with a waiting parking area 51 for departure and a parking area 52 for medicine receiving and reversing in sequence along the direction of its entrance end; the overhead conductive lateral track is provided with a parking area 53 for medicine replenishment and a parking area 54 for medicine inspection as well as a waiting parking area for entering the No. 2 elevator in sequence along the direction of the aerial exit end of the No. 1 elevator. The dustproof plates of the conductive lateral tracks of all the parking areas are provided with RFID cards 203 and magnets 202 used for cooperating with the RFID card reader and the Hall sensor on the lateral wheel trolley in sequence according to the direction of the trolley's travel. (See Figure 1 Figure 2 Figure 3 ).

[0085] It is also equipped with a dedicated system host: it has a built-in control program, communicates with the elevator and the right-angle reversing device by wired means, and communicates with the side-wheel trolley by wireless WIFI, receives instructions from the upper system; reports the operating status to the upper system; receives information reported by the side-wheel trolley, the elevator and the right-angle reversing device; and sends instruction information to the side-wheel trolley, the elevator and the right-angle reversing device;

[0086] Lateral wheel trolley: receives instructions from the system host via wireless WIFI, carries the loading tray to run or park in the conductive lateral track, elevator and right-angle reversing device, and reports the operating status information to the system host.

[0087] Fig.59 Shows:

[0088] 1. The car starts from the departure area;

[0089] 2. The trolley passes the turning point and arrives at the trolley medicine receiving and reversing area to wait for medicine receiving and reversing

[0090] 3. When the trolley receives the medicine, the reversing device on the side close to the elevator opens, and the other reversing device closes to make the trolley complete a 90° reversal;

[0091] 4. After the trolley completes the reversal, it enters the No. 1 elevator. At the same time, the reversing device returns to its original state. After detecting that the trolley has entered the elevator and is in place, the elevator platform begins to rise (the lifting platform of the No. 1 elevator is always kept on the first-layer track);

[0092] 5. After the elevator rises to the second-level track, the trolley enters the second-level track: after detecting that the trolley leaves the elevator, the elevator begins to reset.

[0093] 6. The car continues to move forward on the second track and passes a bend first.

[0094] 7. After successfully passing the bend, the car moves forward and arrives at the medicine table.

[0095] 8. After passing the medicine replenishment table, the car goes forward to the medicine inspection table;

[0096] 9. After passing the medicine replenishment table and the medicine inspection table, the trolley will drive into the No. 2 elevator (the lifting platform of the No. 2 elevator will always be kept on the second-level track). After detecting that the trolley is in place, the elevator will start to descend;

[0097] 10. When the elevator descends to the first track, the trolley drives out of the elevator and the lifting platform starts to reset.

[0098] 11. After the car completes the last turn on the first track, it returns to the original departure area and waits for the next departure.

[0099] The lateral wheel trolley runs in a one-way motion mode on the conductive track, and generally does not allow reverse operation. When the lateral wheel trolley runs on the conductive lateral track, the RFID card and magnet installed below it will achieve accurate parking of the trolley.

[0100] The V-shaped wheel of the lateral wheel trolley is stuck on the V-shaped track bar of the conductive lateral track and is in direct contact and friction with the V-shaped track bar. Therefore, the operation of the lateral wheel trolley can be controlled by controlling the rotation of the V-shaped wheel. The lateral wheel trolley operates in a unidirectional motion mode in the V-shaped track, and reverse operation is generally not allowed. When the lateral wheel trolley runs on the conductive lateral track, the four V-shaped wheels of the trolley are tightly fitted with the V-shaped track bar under the action of the internal tension spring, so that the V-shaped track bar plays the following roles for the lateral wheel trolley: supporting the operation of the trolley; guiding the operation of the trolley; and providing the trolley with the effect of passing electricity.

[0101] Fig.62 It is shown that: at this time, the side-wheel trolley arrives at the parking waiting area outside the elevator and waits to enter the elevator.

[0102] Fig.63 It shows that at this time, the side-wheel trolley enters the elevator and stops accurately through the RFID and magnetic steel in the elevator to wait for the elevator to descend.

[0103] Fig.64 It is shown that at this time, the lateral wheel trolley is descending along with the movable track support platform inside the elevator.

[0104] Fig.65 It is shown that: at this time, the side-wheel trolley arrives at the bottom of the elevator along with the movable track support platform inside the elevator, and waits for the side-wheel trolley to drive out of the elevator.

[0105] Fig.66 It shows that at this time, the side wheel trolley has driven out of the elevator and reported to the system host through the RFID outside the elevator, and then the elevator starts to reset.

[0106] Fig.67 It is shown that at this time, the side wheel trolley moves from the conductive track to the right-angle reversing device.

[0107] Fig.68 It shows that: at this time, the side-wheeled vehicle senses the RFID card and the magnet before entering the right-angle reversing device and immediately stops and waits. If there is a vehicle in front or no corresponding command is received, the side-wheeled vehicle will stop and wait. If there is no obstacle in front and the corresponding command is received, the side-wheeled vehicle will continue to move forward and enter the right-angle reversing device.

[0108] Fig.69It shows that at this time, the side-wheel trolley stops accurately in the right-angle reversing device and waits for the right-angle reversing device to complete the reversing action, and the side-wheel trolley also completes a 90° right-angle reversing here, and then waits for the right-angle reversing device to release.

[0109] Fig.70 It shows that at this time, the side-wheeled trolley has left the right-angle reversing device, and when passing the RFID card at the exit position, the side-wheeled trolley will report to the system host that it has left the right-angle reversing device. Then the system host will issue a command to reset the right-angle reversing device to wait for the next trolley to enter and continue to complete the above reversing action.

[0110] Fig.71 It shows that at this time, the side-wheeled trolley reaches the entrance of the right-angle reversing device and stops accurately through the RFID card and the magnetic steel to wait. If there are other side-wheeled trolleys in the right-angle reversing device, it continues to wait. If not, it enters the right-angle reversing device.

[0111] Fig.72 It shows that at this time, the side-wheel trolley enters the right-angle reversing device and stops accurately through the RFID card and magnetic steel below it, and then waits for the right-angle reversing device to complete the reversing action. At the same time, the side-wheel trolley completes the 90° right-angle reversal, and then the side-wheel trolley drives into the elevator.

[0112] Fig.73 It shows that at this time, the side-wheel trolley enters the elevator and stops accurately through the RFID card and magnet in it, and reports to the system host that the side-wheel trolley has left the right-angle reversing device, and then the right-angle reversing device is immediately reset.

[0113] Fig.74 It is shown that at this time, the side-wheel trolley climbs to the second-layer conductive track entrance through the movable track support platform in the elevator, and then leaves the elevator after the elevator stops.

[0114] Fig.75 It is shown that: at this time, the side-wheeled trolley leaves the elevator and then reports to the host system that it has left the elevator through the RFID card at the exit. At the same time, the elevator will receive a reset instruction and wait for the next side-wheeled trolley to enter after resetting.

[0115] 1. Composition:

[0116] 1. The lateral track trolley system consists of a system host, a lateral wheel trolley, a loading tray, a conductive lateral track, a lateral wheel trolley elevator, a lateral wheel trolley right-angle reversing device, etc.

[0117] 2. Each system sub-device:

[0118] ⑴、System host: The lateral track trolley system is equipped with a dedicated system host with a built-in control program. It communicates with the lateral wheel trolley elevator and the lateral wheel trolley right-angle reversing device by wired means, and communicates with the lateral wheel trolley by wireless WIFI. Its functions are: receiving instructions from the upper system; reporting the operating status to the upper system; receiving information reported by the lateral wheel trolley, elevator and right-angle reversing device; sending instruction information to the lateral wheel trolley, elevator and right-angle reversing device.

[0119] ⑵、Side-wheel trolley: The side-wheel trolley consists of a vehicle body, a control circuit board, a rechargeable battery, a full-bridge rectifier, a power manager, a V-wheel reduction motor mounting assembly, an RFID card 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. Its function is to receive instructions sent by the system host through wireless WIFI, carry the loading tray to run or park in the conductive side track, elevator and right-angle reversing device, and report the running status information to the system host.

[0120] ⑶、Loading tray: The loading tray is a tray-shaped container, which is installed on the hood of the side wheel trolley through the loading tray movable card and the loading tray fixed card on the hood of the side wheel trolley. Its function is to load medicinal materials and other items. Due to the setting of the loading tray movable card and the loading tray fixed card on the hood, the loading tray can be quickly disassembled and installed.

[0121] ⑷. Conductive lateral track: The conductive lateral track is composed of V-shaped track bars, conductive bars, track bar reinforcement tubes, insulating protective covers, dustproof plates, track pads, track support frames and adjustment feet. Its function is to provide a support track for the side wheel trolley to operate, limit, guide and support the side wheel trolley, and provide operating power to the side wheel trolley through the embedded conductive bars.

[0122] ⑸. Side-wheel trolley elevator: The side-wheel trolley elevator consists of an elevator control circuit board, a control circuit board installation box, a support frame, a movable track support platform (including a screw nut and a slider), a limit switch, a limit block, a motor, a screw, a slide rail, etc. Its function is to enable the side-wheel trolley to run in the conductive side track at different heights through the lifting or lowering function of the elevator device.

[0123] ⑹. Right-angle reversing device for lateral wheel trolley: The right-angle reversing device for lateral wheel trolley is composed of a flip track assembly (flip track, flip shaft, flip track base, flip track base connector, bearing and bearing retainer), a reduction motor, a gear set (driving gear, driven gear), a gear cover, a V-shaped track bar, a right-angle connector for a V-shaped track bar, a reversing device bottom plate, a control circuit board box, a reversing device control circuit board, a limit switch, an RFID card, a Hall magnet and other components. Its function is: because the right-angle reversing device is compact in design and occupies a small area, it can enable the lateral wheel trolley to achieve right-angle reversing in a narrow operating space.

[0124] 2. Working process:

[0125] 1. Information reception and feedback of the side-wheeled vehicle: The side-wheeled vehicle receives the command information sent by the system host through the wireless WIFI antenna, and realizes the actions such as running, accelerating, decelerating and stopping at the specified position according to the command, and reports the running status, command completion status and alarm information to the system host in real time.

[0126] For example, in the "Smart Chinese Medicine Pharmacy Intelligent Dispensing and Dispensing System for Chinese Herbal Medicine Slices", the lateral wheel trolley is waiting for departure in the departure area. When the lateral wheel trolley receives the departure instruction sent by the system host, it starts to leave the departure area and then stops at the parking point according to the instruction. Then it leaves the parking point according to the instruction. After multiple actions of "stopping at the parking point → leaving the parking point → stopping at the parking point", it finally arrives at the departure area and stops, waiting for the next operation. During the entire process of this operation, the lateral wheel trolley receives the instructions sent by the system host in real time to perform the next action, and reports the operation status and instruction completion status to the system host in real time. If a fault occurs during the operation, the fault information will be reported to the system host in a timely manner.

[0127] 2. Parking of the side-wheel trolley: The parking of the side-wheel trolley is divided into two situations: positioning parking and blocking parking.

[0128] ⑴. Positioning and parking: The positioning and parking of the lateral wheel trolley is completed by the cooperation of RFID positioning and positioning Hall positioning. In the running direction of the lateral wheel trolley, at the bottom of the positioning and parking point set on the V-shaped track, an RFID card is installed and a magnet is installed at a certain distance. When the lateral wheel trolley receives information instructions and needs to park at a certain positioning and parking position, when the lateral wheel trolley runs to this position in the V-shaped track, it will first read the RFID card code through the RFID card reader, and know that it needs to park at this position. Then the trolley control program controls the lateral wheel trolley to decelerate immediately. When the Hall sensor senses the positioning magnet matching the RFID card during the deceleration, the trolley control program controls the lateral wheel trolley to stop immediately and no longer run.

[0129] ⑵、Restraint and parking: The restraint and parking of the side-wheeled trolley is accomplished by the distance sensor on the side-wheeled trolley measuring the distance between the trolley and the obstacle in front in the forward direction, and judging the length of the distance by slowing down and stopping. Distance sensors are installed on the four sides of the side-wheeled trolley to detect the distance between the trolley and the obstacle in front in real time. When the distance between the trolley and the obstacle in front is less than the preset safety value (the preset safety value ≥ 2 times the safety distance), the trolley control program will control the side-wheeled trolley to automatically reduce the speed of the trolley; when the distance between the trolley and the obstacle in front reaches the set safety distance, the side-wheeled trolley will stop to avoid collision.

[0130] 3. Operation of the lateral wheel trolley: There are four ways for the lateral wheel trolley to operate in the lateral track trolley system: one is to operate in the conductive lateral track; the second is to operate in the elevator; the third is to operate in the right-angle reversing device; the fourth is to operate in the coordination of the elevator and the right-angle reversing device.

[0131] ⑴. Running in the conductive lateral track: The V-shaped wheel of the lateral wheel trolley is stuck on the V-shaped track bar of the conductive lateral track, and is in direct contact and friction with the V-shaped track bar. Therefore, the operation of the lateral wheel trolley can be controlled by controlling the rotation of the V-shaped wheel. The lateral wheel trolley runs in a unidirectional motion mode in the V-shaped track, and reverse operation is generally not allowed. When the lateral wheel trolley runs on the conductive lateral track, its four V-shaped wheels fit tightly with the V-shaped track bar under the action of the internal tension spring, so that the V-shaped track bar plays the following roles for the lateral wheel trolley: supporting the operation of the trolley; guiding the operation of the trolley; and acting as a power source for the trolley.

[0132] ⑵、Operation in the elevator:

[0133] ①. Entering the elevator: To facilitate identification and confirmation of the side-wheeled trolley entering the elevator, an RFID card and a positioning magnet are installed in the middle of the parking space one parking space away from the elevator on the side of the entry. When the side-wheeled trolley drives to this position, it reads the RFID card and reports to the system host that it has reached the position. The side-wheeled trolley starts to slow down and wait for the system host to reply. There are three operating states:

[0134] The first one is that if the movable track support platform of the elevator has returned to its position and there is no trolley on the platform, the system host will reply with a command to let the trolley continue to drive into the movable track support platform of the elevator. When the lateral wheel trolley enters the movable track support platform, it will read the RFID card installed on the platform, and then report the status information of having entered the platform to the system host. The lateral wheel trolley continues to drive until it stops when it senses the Hall magnet in the middle position of the platform, and then reports to the system host that it has entered the movable track support platform of the elevator and is in place. The system host then sends an elevator operation command to the control circuit board of the elevator, and the control circuit board of the elevator then controls the elevator to start ascending or descending.

[0135] Second, if the movable track support platform of the elevator has not returned to its position or a trolley is parked on the platform, the system host will reply with a command to let the trolley stop and wait. The side wheel trolley will continue to move until it senses the Hall magnet and then stop, waiting for the system host to send a command to enter the elevator.

[0136] The third type is that if the lateral wheel vehicle does not receive any command from the system host when it senses the Hall magnet, the lateral wheel vehicle must stop at the Hall magnet position and wait for the system host to send a command to proceed to the next step.

[0137] ②. Leaving the elevator: To facilitate identification and confirmation that the side-wheeled trolley has left the elevator, an RFID card is installed in the middle of the parking space one parking space away from the elevator on the departure side. When the movable track support platform of the elevator rises or falls into place, the side-wheeled trolley leaves the elevator. When it drives to the RFID card position and reads the RFID card, it indicates that the side-wheeled trolley has completely left the elevator. The side-wheeled trolley immediately reports to the system host that it has completed leaving the elevator. The system host immediately sends an instruction to the elevator control circuit board to raise or lower the elevator's movable track support platform back to its position. The elevator control circuit board immediately controls the elevator to run, and returns the movable track support platform by raising or lowering it. Wait for the next side-wheeled trolley to drive in.

[0138] ⑶、Operation in right angle reversing device:

[0139] ①. Entering the right-angle reversing device: To facilitate identification and confirmation that the side-wheeled vehicle enters the right-angle reversing device, an RFID card and a positioning magnet are installed in the middle of the parking space one parking space away from the right-angle reversing device on the side of the vehicle. When the side-wheeled vehicle drives to this position, the RFID card is read and the information that the vehicle has reached the position is reported to the system host. The side-wheeled vehicle starts to slow down and wait for the system host to reply. There are three operating states:

[0140] The first one is that if there is no trolley in the right-angle reversing device, the system host will reply with a command to let the trolley continue to drive into the right-angle reversing device. When the lateral wheel trolley enters the right-angle reversing device, it will read the RFID card installed on the base of the right-angle reversing device, and the lateral wheel trolley will start to slow down and continue to drive until it senses the Hall magnet installed in the middle position of the base of the right-angle reversing device to stop and park, and then report to the system host that it has entered the right-angle reversing device and is in position. The system host then sends a reversing command to the control circuit board of the right-angle reversing device, and the control circuit board of the right-angle reversing device then controls the flip track on the side of the entry to flip up the closed track, and then controls the flip track on the side of the exit to flip down the open track. At this point, the reversing operation is completed, and the control circuit board of the right-angle reversing device reports the information that the reversing operation is completed to the system host. The system host sends a command to the lateral wheel trolley to exit the right-angle reversing device, and the trolley exits the right-angle reversing device.

[0141] The second type is that if there is a car parked in the right-angle reversing device, the system host will reply with a command to let the car park and wait. The side wheel car continues to travel until it senses the Hall magnet and stops, waiting for the system host to send a command to enter the right-angle reversing device.

[0142] The third type is that if the lateral wheel vehicle does not receive any command from the system host when it senses the Hall magnet, the lateral wheel vehicle must stop at the Hall magnet position and wait for the system host to send a command to proceed to the next step.

[0143] ②. Leaving the right-angle reversing device: In order to facilitate identification and confirmation that the lateral wheel trolley has left the right-angle reversing device, an RFID card and a Hall magnet are installed in the middle of the parking space one parking space away from the flip track assembly of the right-angle reversing device on the leaving side. When the lateral wheel trolley leaves the right-angle reversing device, drives to the RFID card position and reads the RFID card, it indicates that the lateral wheel trolley has started to leave the elevator. The lateral wheel trolley immediately reports to the system host that it has started to leave the elevator, and the lateral wheel trolley immediately starts to decelerate. When the lateral wheel trolley continues to run until it senses the Hall magnet, it indicates that the lateral wheel trolley has completed leaving the right-angle reversing device. The lateral wheel trolley immediately reports to the system host that it has completely left the right-angle reversing device. The system host immediately sends a recovery command to the control circuit board of the right-angle reversing device. The control circuit board of the right-angle reversing device immediately controls the flip track on the entering side to flip down to open the track, and at the same time controls the flip track on the exiting side to flip up to close the track to complete the recovery operation. Wait for the next side-wheel trolley to enter.

[0144] If the lateral wheel trolley senses the Hall magnet and reports to the system host that it has completely left the right-angle reversing device, and there is an obstacle ahead, the system host will immediately send a stop command to the lateral wheel trolley, and the lateral wheel trolley will stop at the Hall magnet position and wait for the next operation command.

[0145] ⑷、Operation in coordination with the elevator and the right-angle reversing device: When the side-wheel trolley is operating in coordination with the elevator and the right-angle reversing device, taking the right-angle steering device on the trolley's entry side and the elevator on the trolley's exit side as an example, the RFID card and Hall magnet originally installed on the right-angle steering device's exit side for identifying and locating the side-wheel trolley's exit can be cancelled, and the RFID card and Hall magnet installed on the elevator's movable track support platform can be used to replace its exit identification and positioning function; similarly, the RFID card and Hall magnet originally installed on the elevator's entry side for identifying and locating the side-wheel trolley's entry can also be cancelled, and the RFID card and Hall magnet installed on the right-angle reversing device base can be used to replace its entry identification and positioning function. The specific operation method is as follows:

[0146] ①. Entering the right-angle reversing device and elevator: To facilitate identification and confirmation that the side-wheeled vehicle enters the right-angle reversing device, an RFID card and a positioning magnet are installed in the middle of the parking space one parking space away from the right-angle reversing device on the side of the vehicle. When the side-wheeled vehicle reaches this position, the RFID card is read and the information that the vehicle has reached the position is reported to the system host. The side-wheeled vehicle starts to slow down and wait for the system host to reply. There are three operating states:

[0147] The first one is that if there is no trolley in the right-angle reversing device, the system host will reply with a command to let the trolley continue to drive into the right-angle reversing device. When the lateral wheel trolley enters the right-angle reversing device, it will read the RFID card installed on the base of the right-angle reversing device, and the lateral wheel trolley will start to slow down and continue to drive until it senses the Hall magnet installed in the middle position of the base of the right-angle reversing device to stop and park, and then report to the system host that it has entered the right-angle reversing device and is in place. The system host then sends a reversing command to the control circuit board of the right-angle reversing device. The control circuit board of the right-angle reversing device then controls the flip track on the side of the vehicle to flip up and close the track, and then controls the flip track on the side of the vehicle to flip down and open the track. At this point, the reversing operation is completed, and the control circuit board of the right-angle reversing device reports the information that the reversing operation is completed to the system host. The system host determines whether to send a command to the lateral wheel trolley based on whether there is a trolley in the elevator? Is the movable track support platform of the elevator in place? And other situations:

[0148] A. When the system host determines that there is no trolley in the elevator and the movable track support platform of the elevator has returned to its position, the system host sends a command to the lateral wheel trolley to drive out of the right-angle reversing device. The trolley drives out of the right-angle reversing device and enters the movable track support platform of the elevator. When the lateral wheel trolley enters the movable track support platform, it reads the RFID card installed on the platform and then reports the status information of entering the platform to the system host. The lateral wheel trolley continues to decelerate and stops when it senses the Hall magnet in the middle of the platform. It then reports to the system host that it has entered the movable track support platform of the elevator and is in position. The system host then sends an elevator operation command to the elevator control circuit board, and the elevator control circuit board then controls the elevator to start ascending or descending.

[0149] B. When the system host determines that there is a trolley in the elevator, or the movable track support platform of the elevator has not returned to its position, the system host sends a parking command to the side-wheel trolley, and the side-wheel trolley stops in the right-angle reversing device waiting for the next operating command until the system host determines that there is no trolley in the elevator and the movable track support platform of the elevator has returned to its position. The subsequent operation mode is as described in the above A.

[0150] The second type is that if there is a car parked in the right-angle reversing device, the system host will reply with a command to let the car park and wait. The side wheel car continues to travel until it senses the Hall magnet and stops, waiting for the system host to send a command to enter the right-angle reversing device.

[0151] The third type is that if the lateral wheel vehicle does not receive any command from the system host when it senses the Hall magnet, the lateral wheel vehicle must stop at the Hall magnet position and wait for the system host to send a command to proceed to the next step.

[0152] ②. Leaving the elevator: To facilitate identification and confirmation that the side-wheeled trolley has left the elevator, an RFID card is installed in the middle of the parking space one parking space away from the elevator on the departure side. When the movable track support platform of the elevator rises or falls into place, the side-wheeled trolley leaves the elevator. When it drives to the RFID card position and reads the RFID card, it indicates that the side-wheeled trolley has completely left the elevator. The side-wheeled trolley immediately reports to the system host that it has completed leaving the elevator. The system host immediately sends an instruction to the elevator control circuit board to raise or lower the elevator's movable track support platform back to its position. The elevator control circuit board immediately controls the elevator to run, and returns the movable track support platform by raising or lowering it. Wait for the next side-wheeled trolley to drive in.

[0153] 4. Power supply: The power supply mode of the lateral wheel trolley is a mixed power supply mode of on-track power supply and battery power supply. Under normal circumstances, the lateral wheel trolley collects electricity through the conductive strips in the conductive lateral track and the V-shaped conductive wheels installed on the trolley in contact with it, and then supplies power to the control circuit board, motor and other electrical devices through the dual power automatic switch in the trolley. When there is a breakpoint in the on-track power supply or the on-track power supply fails, the dual power automatic switch installed on the lateral wheel trolley will automatically switch to battery power supply to ensure the operation of the trolley.

[0154] 5. Installation and removal of the loading tray: The fixed and movable cards of the loading tray are respectively arranged on the symmetrical sides of the top surface of the hood of the side-wheel trolley, which are used for installation, fixation and removal of the loading tray on the side-wheel trolley. A touch switch is arranged in front of the movable card position on the top surface of the hood of the side-wheel trolley and below the loading tray. When the loading tray is installed on the side-wheel trolley, the loading tray will press the touch switch, and the loading tray installation indicator on the trolley will turn green, indicating that the loading tray is installed in place; when the loading tray is removed, the loading tray installation indicator will turn red or yellow according to the running state of the side-wheel trolley.

[0155] 6. Fault warning: The fault warnings of the side-wheel trolley mainly include operating status warning and loading tray installation warning. The operating status warning mainly reflects the warning of WIFI communication, motor operation and sensor failure when the side-wheel trolley is in operation. The loading tray installation warning mainly reflects the status warning of whether the loading tray is loaded when the side-wheel trolley is running.

[0156] 7. Charging: In addition, there is a battery inside the car and a charging port on the side of the car body. The car control circuit board is equipped with a battery power monitoring function. When the battery power is lower than the set warning value, the car will alarm the host computer system to remind the maintenance personnel to charge it. The maintenance personnel will remove the car and insert the charger into the charging socket of the car for charging.

Claims

1. A lateral track trolley system, characterized in that: The running loop of the lateral wheel trolley is composed of: one end of the ground-type conductive lateral track (200) is connected to the ground exit end of the No. 2 elevator (400a), and the other end is connected to the ground entrance end of the No. 1 elevator (400) through a right-angle reversing device (300); one end of the overhead conductive lateral track (200) is connected to the aerial exit end of the No. 1 elevator, and the other end is connected to the aerial entrance end of the No. 2 elevator; The conductive lateral track (200) is composed of two parallel tracks for the wheels of the lateral wheel trolley to engage and run and for supplying power to the lateral wheel trolley, and each track structure is as follows: a V-shaped track bar (210) is fixed on a rectangular tube (207), a conductive copper bar (209) is arranged on the outwardly protruding V-shaped outer end of the V-shaped track bar, and an insulating layer (208) is also provided between the conductive copper bar and the V-shaped track bar, and an insulating protective cover (204) is arranged on the top of the V-shaped track bar; a dustproof plate (205) is installed below the two tracks, and a magnetic steel (202) and an RFID card (203) are installed on the dustproof plate for respectively cooperating with a Hall sensor and an RFID card reader on the lateral wheel trolley (100); The bottom of the rectangular tube of the two parallel tracks is provided with a shock-absorbing block for preventing the tracks from directly contacting the ground, thereby forming a ground-type conductive lateral track; A plurality of support frames (201) are arranged at the bottom of the rectangular tubes of the two parallel tracks to form an overhead conductive lateral track; The structure of the lift (400, 400a) is as follows: a support frame (416) is composed of four vertically arranged rectangular tubes and a plurality of cross bars (409) connected between two adjacent vertical rectangular tubes; the lower ends of the four vertical rectangular tubes of the support frame are respectively fixed to a lower base plate (413) via mounting seats (428); a lower limit stopper (412) and a lower limit switch (414) are arranged on the lower base plate; an upper cover plate (408) is respectively sleeved on the upper ends of the four vertical rectangular tubes via four rectangular tube short sections (423) fixed to its bottom surface and fixed via bolts; a control circuit board box (407) in which a control circuit board (422) is arranged is installed on the upper cover plate; a motor (406) is installed on the upper cover plate; a motor shaft is connected to the upper end of a vertically arranged lead screw (402) via a coupling; a lower end of the lead screw is fixed to an inner ring of a bearing (426); the bearing is installed in a bearing sleeve (427); the bearing sleeve The movable track support platform (403) is fixed on the lower bottom plate; a slide rail (418) is fixed on each of the two vertical rectangular tubes on the left side of the support frame, and a slider (405) is movably mounted on each of the slide rails; two parallel V-shaped tracks (404, 410) for the lateral wheel trolley (100) to run are installed on the movable track support platform (403); Hall magnets (424) and RFID cards (411) used to cooperate with the Hall sensor and RFID card reader on the lateral wheel trolley are installed on the movable track support platform (403) from front to back; the movable track support platform is fixed on the two sliders (405) by screws through the two vertical plates thereon; the screw nut (421) screwed on the screw is fixed on the movable track support platform; an upper limit stopper (420) and an upper limit switch (419) are respectively installed on the upper parts of the two vertical rectangular tubes on the left side of the support frame; The lower bottom plate is provided with a lower track connecting piece (401) for connecting with the lower track, and the upper cross bar of the support frame is provided with an upper track connecting piece (415) for connecting with the upper track; The structure of the right-angle reversing device (300) of the lateral wheel trolley is as follows: a right-angle reversing track in a square area is formed by the intersection of two longitudinal tracks and two transverse tracks; the track is composed of a V-shaped track bar (320) used to cooperate with the wheels of the lateral wheel trolley and for the lateral wheel trolley to travel, which is fixed on a rectangular tube (316), and all the rectangular tubes of the track are fixed on a bottom plate (314); the trolley entrance and trolley exit of the right-angle reversing track are respectively provided with a flip track assembly of the same structure in the transverse and longitudinal directions, and the flip track assembly structure is as follows: a reduction motor (301) is installed on the outer surface of the track, and a gear (303) installed on the shaft of the reduction motor (301) extending into the inner side of the track is meshed with a driven gear (304), and the driven gear is installed on a flip shaft (305), and the flip shaft is mounted on two bearings (306, 307) in a double bearing seat, and the base (31 1) A double bearing seat with bearings installed is fixed on a strip, a lower limit switch (312) is installed on the strip, an upper limit switch (313) is installed on the double bearing seat located between two bearings, a base is fixed to a bottom plate (314) via the strip by screws, a flip track (310) is fixed to a flip shaft (305) located between two bearing seats on the double bearing seat, a Hall magnet (317) used for Hall sensor induction on a side wheel trolley is installed in the middle of a square area of ​​a right angle reversing track on the bottom plate (314), a first RFID card (319) for reading by an RFID card reader on the side wheel trolley is installed near the trolley entrance in the square area of ​​the right angle reversing track on the bottom plate, and a second RFID card (318) for reading by an RFID card reader on the side wheel trolley is installed on the bottom plate outside the trolley exit of the right angle reversing track; The structure of the side-wheeled vehicle (100) is as follows: the cubic vehicle body is composed of a vehicle shell (1) and a vehicle shell top plate (1f) which are buckled together; the vehicle shell is integrally composed of a front side vertical plate (1a), a rear side vertical plate (1b), a left side vertical plate (1c), a right side vertical plate (1d) and a vehicle shell bottom plate (1e); four V-shaped wheels (17) are evenly arranged under the square vehicle shell bottom plate; four motor drive devices are arranged in a centrally symmetrical manner; each motor drive device (37) is composed of: a reduction motor (14) whose output shaft is perpendicular to the bottom plate and extends downward; A V-shaped wheel (17) is installed on the outer end of the bottom plate, the reduction motor is installed on the reduction motor mounting plate (15), a slide rail (18) is respectively installed on both sides of the diagonal of the square on the bottom plate in a diagonally symmetrical manner, and the two ends of the reduction motor mounting plate are respectively fixed to a slider (19) by bolts (20), and the two sliders respectively form a sliding fit relationship with the two slide rails, and a tension spring (16) is installed between the reduction motor mounting plate and the intersection of the adjacent two side vertical plates of the corresponding vehicle shell, and the tension spring is arranged along the diagonal direction of the square of the bottom plate; A V-shaped conductive wheel (28) is installed between two adjacent V-shaped wheels on the bottom plate of the vehicle shell and is used for contacting with the conductive side track to receive electricity. The movement trajectory of each V-shaped conductive wheel and the two adjacent V-shaped wheels is in the same straight line; an RFID card reader (36) and a Hall sensor (35) are installed on the bottom plate and are used for cooperating with the RFID card on the conductive side track and the Hall magnet respectively; a WIFI antenna (21), an operation indicator light (24), a loading tray indicator light (25) and a loading tray quick assembly and disassembly mechanism are installed on the top plate of the vehicle shell; The front, rear, left and right side vertical plates are respectively equipped with Hall sensors (29) and distance sensors (30) and heat dissipation holes (31), and the front side vertical plate is equipped with a start button (33), the left side vertical plate is equipped with a power switch (32), and the rear side vertical plate is equipped with a charging port (34) for charging a battery (8); The dual power automatic switch (3) and the control circuit board (2) are both mounted on a mounting plate (6), and the mounting plate (6) and the battery (8) are mounted in the inner cavity of the vehicle shell.

2. A lateral track trolley system according to claim 1, characterized in that: In the elevator, there are two upper limit blocks, which are respectively mounted on the two vertical rectangular tubes on the left side of the support frame; there are four lower limit blocks, which are respectively mounted on the lower base plate adjacent to the four mounting seats; among the four vertical rectangular tubes of the support frame (416), the length of each rectangular tube is greater than the width, the width of the two vertical rectangular tubes on the left side of the support frame is the same as the length of the two vertical rectangular tubes on the right side; four cross bars are evenly distributed and fixedly connected on the outer side of the two vertical rectangular tubes on the left side of the support frame; two cross bars are fixedly connected between the two vertical rectangular tubes on the right side of the support frame and between the two vertical rectangular tubes on the right side and the adjacent vertical rectangular tubes on the left side; a reinforcing rectangular tube (425) is fixedly connected between the two mounting seats of the two vertical rectangular tubes on the left side of the lower base plate; the control board circuit box consists of a box body (407a) and a box cover (407b).

3. The lateral track trolley system according to claim 1, characterized in that: In the right-angle reversing device, a gear cover (302) is provided on the mutually meshing gear (303) and the driven gear (304), and the gear cover is fixed to the outer side of the track by screws; the flip shaft is also provided with bearing retaining springs (308, 309) on the outer sides of the two bearings; a control circuit board box (315) is installed on the outer side of the transverse track, which consists of a box cover (315b) and a box body (315c), and the control circuit board (315a) is arranged in the box body; and a right-angle connector (321) is also provided, and the right-angle connector The invention is composed of two ear plates (321a) and two bottom plates (321b) integrated with a rectangular parallelepiped; a right-angle connector is arranged at the intersection of the fractures of the longitudinal track and the transverse track; two rectangular tubes of the longitudinal track and the transverse track are respectively placed on two pads; two V-shaped track bars of the longitudinal track and the transverse track are respectively fixed on the two ear plates by screws; the rectangular parallelepiped is matched with the fracture at the intersection of the longitudinal track and the transverse track; a pad (323) is also arranged at the bottom of the longitudinal track and the transverse track for keeping the bottom surface of the entire right-angle reversing track flush.

4. The lateral track trolley system according to claim 1, characterized in that: In the side-wheel trolley, four V-shaped wheels are symmetrical in vertical and horizontal arrangement, and the axis center line of the output shaft of the reduction motor corresponding to each V-shaped wheel is perpendicular to and intersects with the diagonal line corresponding to the square of the bottom plate; one end of the tension spring is fixed at the intersection of the adjacent two side vertical plates, and the other end is fixed to the tension spring clamp (16a) on the reduction motor mounting plate (15); a loading plate (38) is also provided, the outside of the loading plate is provided with a reinforcing rib (38b), and the periphery of the lower part of the loading plate is provided with a quick disassembly opening (38a); the quick disassembly mechanism of the loading plate is as follows: a fixed clamp (23) is installed on one side of the top plate, and a movable clamp (27) is installed on the other side of the top plate, a tension spring is fixed between the bottom of the movable clamp and the top plate, and a tension spring is installed inside the tension spring on the top plate The spring sheet (39) is equipped with a torsion spring. When no external force is applied, the spring sheet can push the loading tray upward under the action of the torsion spring. When installing, the quick assembly and disassembly opening at one end of the loading tray is aligned with the fixed card. Under the action of the downward force applied to the quick assembly and disassembly opening at the other end of the loading tray, the movable card overcomes the force of the tension spring and moves outward, and the quick assembly and disassembly openings at both ends of the loading tray are respectively engaged with the fixed card and the movable card to complete the installation of the loading tray. When removing the loading tray, the movable card is pulled outward to overcome the force of the tension spring and move the movable card outward and escape from the quick assembly and disassembly opening of the loading tray. Under the action of the torsion spring, the spring sheet pushes the loading tray upward and finally removes the loading tray. It also has a battery support plate (10), which is installed by four screws (9). A full-bridge rectifier mounting box (7) is arranged on the mounting plate (6) on the bottom plate, and the full-bridge rectifier is mounted in the full-bridge rectifier mounting box (7). Four double-pass hexagonal copper columns (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, and four downwardly bent vertical plates (12) on the mounting plate are respectively inserted into four strip holes on the battery support plate; the control circuit board (2) is fixedly mounted on the four support columns (4) on the mounting plate (6); the dual power automatic switch (3) is mounted on the mounting plate (6) by screws through the mounting holes (3b) on the two ear plates; the nut (29a) on the nut (29a) is provided on the nut (29a) The front end of the sensor (29) passes through the hole on the bracket (29b) and is screwed and fixed to the bracket through another nut (29c), and the bracket is welded to the bottom plate; it also has a support (30a), and the support structure is as follows: a short pitch tube is fixed on the bottom plate, the distance sensor (30) is installed in the short pitch tube of the support (30a), an opening on one side of the short pitch tube is fixed with a trumpet-shaped cylinder that expands outward, the bottom plate is nested on the support mounting plate (30b), and the support mounting plate is welded to the bottom plate of the vehicle shell; the full-bridge rectifier mounting box (7) is installed on the mounting plate (6) through two mounting holes (7c) by screws, and the full-bridge rectifier is fixed in the full-bridge rectifier mounting box through the bottom plate hole (7b) of the full-bridge rectifier mounting box by screws;A touch switch (26) for sensing whether a loading tray is installed on the lateral wheel trolley is provided on the top plate of the vehicle shell, the touch switch is connected to the control circuit board, the spare incoming line (3c) of the dual power automatic switch (3) is connected to the battery (8), the common incoming line (3d) of the dual power automatic switch (3) is connected to the outgoing line of the full-bridge rectifier, and the outgoing line (3e) of the dual power automatic switch (3) is connected to the control circuit board; all the Hall sensors (29) and distance sensors (30) as well as the RFID card reader and Hall sensor (35) on the bottom plate of the vehicle shell are connected to the control circuit board, and the WIFI antenna is wirelessly connected to the host computer system; the power switch and the start button are connected to the power supply circuit of the reduction motor; the reduction motor is connected to the control circuit board; the incoming line of the full-bridge rectifier is connected to the V-shaped conductive wheel, and its outgoing line is connected to the common incoming line (3d) of the dual power automatic switch (3). ; 5. The lateral track trolley system according to claim 1, characterized in that: The ground-type conductive lateral track is provided with a waiting parking area (51) for departure and a parking area (52) for medicine receiving and direction changing in sequence along the direction of its entrance end; the overhead conductive lateral track is provided with a parking area (53) for medicine replenishment and a parking area (54) for medicine inspection as well as a parking area for waiting for entering the No. 2 elevator in sequence along the direction of the aerial exit end of the No. 1 elevator. The dustproof plates of the conductive lateral tracks of all the parking areas are provided with RFID cards (203) and magnets (202) for cooperating with the RFID card reader and the Hall sensor on the lateral wheel trolley in sequence according to the direction of travel of the trolley.

6. The lateral track trolley system according to any one of claims 1 to 5, characterized in that: It is also equipped with a dedicated system host: it has a built-in control program, communicates with the elevator and the right-angle reversing device by wired means, and communicates with the side wheel trolley by wireless WIFI, receives instructions from the upper system; reports the operating status to the upper system; receives information reported by the side wheel trolley, the elevator and the right-angle reversing device; and sends instruction information to the side wheel trolley, the elevator and the right-angle reversing device; Lateral wheel trolley: receives instructions from the system host via wireless WIFI, carries the loading tray to run or park in the conductive lateral track, elevator and right-angle reversing device, and reports the operating status information to the system host.

7. A method for controlling the operation of a trolley system according to any one of claims 1 to 5, characterized in that: The following steps are involved: (1) Information reception and feedback of the side-wheeled vehicle: The side-wheeled vehicle receives the command information sent by the system host through the wireless WIFI antenna, and implements actions such as running, accelerating, decelerating, and stopping at a specified position according to the command, and reports the running status, command completion status, and alarm information to the system host in real time; For example, in the "Smart Chinese Medicine Pharmacy Intelligent Dispensing and Dispensing System for Chinese Herbal Medicine Slices", the side-wheeled trolley waits for departure in the departure area. When the side-wheeled trolley receives the departure instruction sent by the system host, it starts to leave the departure area and then stops at the parking point according to the instruction. Then, it leaves the parking point according to the instruction. After multiple actions of "stopping at the parking point → leaving the parking point → stopping at the parking point", it finally arrives at the departure area and stops, waiting for the next operation. During the entire operation, the side-wheeled trolley receives the instruction sent by the system host in real time to perform the next action, and reports the operation status and instruction completion status to the system host in real time. If a fault occurs during the operation, the fault information will be reported to the system host in a timely manner. (2) Parking of the side-wheeled trolley: The parking of the side-wheeled trolley is divided into two types: positioning parking and blocking parking; ⑴、Positioning and parking: The positioning and parking of the lateral wheel trolley is completed by the cooperation of RFID positioning and positioning Hall positioning. In the running direction of the lateral wheel trolley, at the bottom of the positioning and parking point set on the V-shaped track, an RFID card is installed and a magnet is installed at a certain distance. When the lateral wheel trolley receives information instructions and needs to park at a certain positioning and parking position, when the lateral wheel trolley runs to this position in the V-shaped track, it will first read the RFID card code through the RFID card reader, and know that it needs to park at this position. Then the trolley control program controls the lateral wheel trolley to decelerate immediately. When the Hall sensor senses the positioning magnet matching the RFID card during the deceleration, the trolley control program controls the lateral wheel trolley to stop immediately and no longer run; (2) Stopping and stopping: The stopping and stopping of the side-wheel trolley is accomplished by the distance sensor on the side-wheel trolley measuring the distance between the trolley and the obstacle in front in the forward direction, and slowing down and stopping by judging the length of the distance; the distance sensors are installed on the four sides of the side-wheel trolley to detect the distance between the trolley and the obstacle in front in real time. When the distance between the trolley and the obstacle in front is less than the preset safety value (the preset safety value ≥ 2 times the safety distance), the trolley control program will control the side-wheel trolley to automatically reduce the speed of the trolley; when the distance between the trolley and the obstacle in front reaches the set safety distance, the side-wheel trolley will stop to avoid collision; (3) Operation of the lateral wheel trolley: There are four ways for the lateral wheel trolley to operate in the lateral track trolley system: one is to operate in the conductive lateral track; the second is to operate in the elevator; the third is to operate in the right-angle reversing device; the fourth is to operate in the combination of the elevator and the right-angle reversing device; ⑴. Running in the conductive lateral track: The V-shaped wheel of the lateral wheel trolley is stuck on the V-shaped track bar of the conductive lateral track, and is in direct contact and friction with the V-shaped track bar. Therefore, the operation of the lateral wheel trolley can be controlled by controlling the rotation of the V-shaped wheel; the lateral wheel trolley runs in a unidirectional motion mode in the V-shaped track, and generally does not allow reverse operation; when the lateral wheel trolley runs on the conductive lateral track, the four V-shaped wheels of the trolley are tightly fitted with the V-shaped track bar under the action of the internal tension spring, so that the V-shaped track bar plays the following roles for the lateral wheel trolley: supporting the operation of the trolley; guiding the operation of the trolley; and acting as the trolley through electricity; ⑵、Operation in the elevator: ①. Entering the elevator: To facilitate identification and confirmation of the side-wheeled trolley entering the elevator, an RFID card and a positioning magnet are installed in the middle of the parking space one parking space away from the elevator on the side of the entry. When the side-wheeled trolley drives to this position, it reads the RFID card and reports to the system host that it has reached the position. The side-wheeled trolley starts to slow down and wait for the system host to reply. There are three operating states: The first one is that if the movable track support platform of the elevator has returned to its position and there is no trolley on the platform, the system host will reply with a command to let the trolley continue to drive into the movable track support platform of the elevator. When the lateral wheel trolley enters the movable track support platform, it will read the RFID card installed on the platform, and then report the status information of having entered the platform to the system host. The lateral wheel trolley continues to drive until it senses the Hall magnet in the middle of the platform and stops, and then reports to the system host that it has entered the movable track support platform of the elevator and is in place. The system host then sends an elevator operation command to the elevator control circuit board, and the elevator control circuit board then controls the elevator to start ascending or descending. The second type is that if the movable track support platform of the elevator has not returned to its original position or a trolley is parked on the platform, the system host will reply with a command to let the trolley stop and wait, and the lateral wheel trolley will continue to move until it senses the Hall magnet and stop, waiting for the system host to send a command to enter the elevator; The third type is that if the lateral wheel trolley does not receive the command sent by the system host when it drives to the Hall magnet, the lateral wheel trolley must stop at the Hall magnet position and wait for the system host to send a command to proceed to the next step; ②, Leaving the elevator: To facilitate identification and confirmation that the side-wheel trolley has left the elevator, an RFID card is installed in the middle of the parking space one parking space away from the elevator on the departure side. When the movable track support platform of the elevator rises or falls into place, the side-wheel trolley drives out of the elevator. When it drives to the RFID card position and reads the RFID card, it indicates that the side-wheel trolley has completely left the elevator. The side-wheel trolley immediately reports to the system host that it has completed leaving the elevator. The system host immediately sends an instruction to the elevator control circuit board to raise or lower the elevator's movable track support platform back to its position. The elevator control circuit board immediately controls the elevator to run, and returns the movable track support platform to its position by raising or lowering it; waiting for the next side-wheel trolley to drive in; ⑶、Operation in right angle reversing device: ①. Entering the right-angle reversing device: To facilitate identification and confirmation that the side-wheeled vehicle enters the right-angle reversing device, an RFID card and a positioning magnet are installed in the middle of the parking space one parking space away from the right-angle reversing device on the side of the vehicle. When the side-wheeled vehicle drives to this position, the RFID card is read and the information that the vehicle has reached the position is reported to the system host. The side-wheeled vehicle starts to slow down and wait for the system host to reply. There are three operating states: The first one is that if there is no trolley in the right-angle reversing device, the system host will reply with a command to let the trolley continue to drive into the right-angle reversing device. When the lateral wheel trolley enters the right-angle reversing device, it will read the RFID card installed on the base of the right-angle reversing device, and the lateral wheel trolley will start to slow down and continue to drive until it senses the Hall magnet installed in the middle position of the base of the right-angle reversing device to stop and park, and then report to the system host that it has entered the right-angle reversing device and is in position. The system host then sends a reversing command to the control circuit board of the right-angle reversing device, and the control circuit board of the right-angle reversing device then controls the flip track on the side of the entry to flip up the closed track, and then controls the flip track on the side of the exit to flip down the open track. At this point, the reversing operation is completed, and the control circuit board of the right-angle reversing device reports the information that the reversing operation is completed to the system host. The system host sends a command to the lateral wheel trolley to exit the right-angle reversing device, and the trolley exits the right-angle reversing device. The second type is that if there is a car parked in the right-angle reversing device, the system host will reply with a command to let the car park and wait, and the side wheel car will continue to drive until it senses the Hall magnet and park, waiting for the system host to send a command to enter the right-angle reversing device; The third type is that if the lateral wheel trolley does not receive the command sent by the system host when it drives to the Hall magnet, the lateral wheel trolley must stop at the Hall magnet position and wait for the system host to send a command to proceed to the next step; ②. Leaving the right-angle reversing device: To facilitate identification and confirmation that the side-wheeled trolley has left the right-angle reversing device, an RFID card and Hall magnet are installed in the middle of the parking space one parking space away from the flip track assembly of the right-angle reversing device on the leaving side. When the side-wheeled trolley leaves the right-angle reversing device, drives to the RFID card position and reads the RFID card, it indicates that the side-wheeled trolley has started to leave the elevator. The side-wheeled trolley immediately reports the information that it has started to leave the elevator to the system host, and the side-wheeled trolley immediately starts Slow down and run. When the lateral wheel trolley continues to run until it senses the Hall magnet, it indicates that the lateral wheel trolley has completed leaving the right-angle reversing device. The lateral wheel trolley then reports to the system host that it has completely left the right-angle reversing device. The system host then sends a recovery command to the control circuit board of the right-angle reversing device. The control circuit board of the right-angle reversing device then controls the flip track on the side of the vehicle entering to flip down to open the track, and at the same time controls the flip track on the side of the vehicle exiting to flip up to close the track, completing the recovery operation; waiting for the next lateral wheel trolley to enter; If the lateral wheel trolley senses the Hall magnet and reports to the system host that it has completely left the right-angle reversing device, and there is an obstacle ahead of its operation, the system host will immediately send a parking command to the lateral wheel trolley, and the lateral wheel trolley will stop at the Hall magnet position and wait for the next operation command; (4) Operation in coordination with the elevator and the right-angle reversing device: When the side-wheel trolley is operating in coordination with the elevator and the right-angle reversing device, taking the right-angle steering device on the trolley entry side and the elevator on the trolley exit side as an example, the RFID card and Hall magnet originally installed on the exit side of the right-angle steering device for identifying and locating the side-wheel trolley exit can be cancelled, and the RFID card and Hall magnet installed on the movable track support platform of the elevator can be used to replace its exit identification and positioning function; similarly, the RFID card and Hall magnet originally installed on the entrance side of the elevator for identifying and locating the side-wheel trolley entry can also be cancelled, and the RFID card and Hall magnet installed on the base of the right-angle reversing device can be used to replace its entry identification and positioning function; the specific operation method is as follows: ①. Entering the right-angle reversing device and elevator: To facilitate identification and confirmation that the side-wheeled vehicle enters the right-angle reversing device, an RFID card and a positioning magnet are installed in the middle of the parking space one parking space away from the right-angle reversing device on the side of the vehicle. When the side-wheeled vehicle reaches this position, the RFID card is read and the information that the vehicle has reached the position is reported to the system host. The side-wheeled vehicle starts to slow down and wait for the system host to reply. There are three operating states: The first one is that if there is no trolley in the right-angle reversing device, the system host will reply with a command to let the trolley continue to drive into the right-angle reversing device. When the lateral wheel trolley enters the right-angle reversing device, it will read the RFID card installed on the base of the right-angle reversing device, and the lateral wheel trolley will start to slow down and continue to drive until it senses the Hall magnet installed in the middle position of the base of the right-angle reversing device to stop and park, and then report to the system host that it has entered the right-angle reversing device and is in place. The system host then sends a reversing command to the control circuit board of the right-angle reversing device. The control circuit board of the right-angle reversing device then controls the flip track on the side of the vehicle to flip up and close the track, and then controls the flip track on the side of the vehicle to flip down and open the track. At this point, the reversing operation is completed, and the control circuit board of the right-angle reversing device reports the information that the reversing operation is completed to the system host. The system host determines whether to send a command to the lateral wheel trolley based on whether there is a trolley in the elevator? Is the movable track support platform of the elevator in place? And other situations: A. When the system host determines that there is no trolley in the elevator and the movable track support platform of the elevator has returned to its position, the system host sends a command to the lateral wheel trolley to drive out of the right-angle reversing device. The trolley drives out of the right-angle reversing device and enters the movable track support platform of the elevator. When the lateral wheel trolley enters the movable track support platform, it reads the RFID card installed on the platform and then reports the status information of entering the platform to the system host. The lateral wheel trolley continues to decelerate and stops when it senses the Hall magnet in the middle of the platform. It then reports to the system host that it has entered the movable track support platform of the elevator and is in position. The system host then sends an elevator operation command to the elevator control circuit board, and the elevator control circuit board then controls the elevator to start ascending or descending. B. When the system host determines that there is a trolley in the elevator, or the movable track support platform of the elevator has not returned to its original position, the system host sends a parking command to the side wheel trolley, and the side wheel trolley stops in the right-angle reversing device and waits for the next operation command until the system host determines that there is no trolley in the elevator and the movable track support platform of the elevator has returned to its original position. The subsequent operation mode is as described in the above A; The second type is that if there is a car parked in the right-angle reversing device, the system host will reply with a command to let the car park and wait, and the side wheel car will continue to drive until it senses the Hall magnet and park, waiting for the system host to send a command to enter the right-angle reversing device; The third type is that if the lateral wheel trolley does not receive the command sent by the system host when it drives to the Hall magnet, the lateral wheel trolley must stop at the Hall magnet position and wait for the system host to send a command to proceed to the next step; ②, Leaving the elevator: To facilitate identification and confirmation that the side-wheel trolley has left the elevator, an RFID card is installed in the middle of the parking space one parking space away from the elevator on the departure side. When the movable track support platform of the elevator rises or falls into place, the side-wheel trolley drives out of the elevator. When it drives to the RFID card position and reads the RFID card, it indicates that the side-wheel trolley has completely left the elevator. The side-wheel trolley immediately reports to the system host that it has completed leaving the elevator. The system host immediately sends an instruction to the elevator control circuit board to raise or lower the elevator movable track support platform back to its position. The elevator control circuit board immediately controls the elevator to run, and returns the movable track support platform to its position by raising or lowering the movable track support platform; Wait for the next side-wheel trolley to drive in.

8. The operation control method of the trolley system according to claim 7, characterized in that: The power supply mode of the lateral wheel trolley is a hybrid power supply mode of on-track power supply and battery power supply; under normal circumstances, the lateral wheel trolley collects electricity through the conductive strips in the conductive lateral track and the V-shaped conductive wheels installed on the trolley in contact with it, and then supplies power to the control circuit board, motor and other electrical components through the full-bridge rectifier and dual power automatic switch in the trolley; when there is a breakpoint in the on-track power supply or the on-track power supply fails, the dual power automatic switch installed on the lateral wheel trolley immediately switches to battery power supply to ensure the operation of the trolley.

9. The operation control method of the trolley system according to claim 8, characterized in that: A touch switch is arranged under the loading tray in front of the movable card position of the top plate of the shell of the side-wheel trolley. When the loading tray is installed on the side-wheel trolley, the loading tray will press the touch switch, and the loading tray installation indicator light on the trolley will turn green, indicating that the loading tray is installed in place; when the loading tray is removed, the loading tray installation indicator light will turn red or yellow according to the running state of the side-wheel trolley.

10. The operation control method of the trolley system according to claim 9, characterized in that: The fault warnings of the lateral-wheel trolley mainly include operating status warnings and loading tray installation warnings. The operating status warnings mainly reflect the warnings of WIFI communication, motor operation and sensor failures when the lateral-wheel trolley is in operation. The loading tray installation warnings mainly reflect the status warnings of whether the loading tray is loaded when the lateral-wheel trolley is running. The lateral-wheel trolley is also equipped with a battery inside and a charging port on the side of its body. The trolley control circuit board is provided with a battery power monitoring function. When the battery power is lower than the set warning value, the trolley will alarm the upper computer system to remind the maintenance personnel to charge it. The maintenance personnel then remove the trolley and insert the charger into the charging socket of the trolley for charging.

Images