Self-balancing medical track logistics trolley

Abstract

The invention discloses a self-balancing medical track logistics trolley which comprises a shell and a driving chassis, the shell is fixedly installed on the driving chassis and comprises a loading box and a horizontal adjusting mechanism, and the driving chassis comprises a power structure, a guide structure and an adjusting structure. The carrying box is connected with the horizontal adjusting mechanism, transported objects are contained in the carrying box, the horizontal adjusting mechanism adjusts rotation of the carrying box, the trolley composed of the shell and the driving chassis is located on the track, the power structure is used for driving the trolley to move on the track, and the guiding structure provides guidance for movement of the trolley. The adjusting structure is used for adjusting contact between the trolley and the track, and the situation that driving force is insufficient due to slipping is avoided.

Description

Technical Field

[0001] The present invention belongs to the technical field of rail logistics, and in particular relates to a self-balancing medical rail logistics trolley. Background Art

[0002] Different from general logistics and transportation systems, hospital logistics needs to focus on the following characteristics: hospital logistics compliance, logistics timeliness, heavy transportation tasks, logistics safety and the particularity of the transportation environment. Currently, common medical logistics and transportation solutions include pneumatic logistics transportation, box logistics transportation, rail logistics transportation and robot logistics transportation. Among them, rail logistics transportation has been widely used due to its strong operating stability, wide range of applications and excellent transportation efficiency.

[0003] During operation, the medical rail logistics trolley will pass through different track conditions such as horizontal, turning, and climbing. When passing through the turning section, the trolley is prone to getting stuck and other poor curve passability phenomena. In the climbing section, there will be insufficient climbing power and slipping. When the trolley runs to the ceiling and is in an inverted state, the transported medical supplies are prone to overturning and tipping. For common materials in the medical field such as blood samples, infusion bottles, reagents and drugs, similar overturning and tipping may cause sample failure, drug damage, reduced drug properties and other problems, seriously affecting the normal work of the hospital and even the life safety of the patient. Therefore, the rail logistics transport trolley is required to keep the materials in a stable horizontal state under various transportation conditions to improve the stability and efficiency of transportation. Summary of the invention

[0004] The purpose of the present invention is to solve the above problems and provide a self-balancing medical rail logistics trolley that can solve the transportation stability defects caused by insufficient climbing driving force of the logistics trolley, poor curve passability, and the possible damage caused by tipping and overturning of the goods during transportation.

[0005] In order to solve the above technical problems, the technical solution of the present invention is: a self-balancing medical rail logistics trolley, including a shell and a driving chassis, the shell is fixedly installed on the driving chassis, the shell includes a cargo box and a horizontal adjustment mechanism, the driving chassis includes a power structure, a guide structure and an adjustment structure; the cargo box is connected to the horizontal adjustment mechanism, the cargo box contains transport items, the horizontal adjustment mechanism adjusts the rotation of the cargo box, the trolley formed by the shell and the driving chassis is located on the track, the power structure is used to drive the trolley to move on the track, the guide structure provides guidance for the movement of the trolley, and the adjustment structure is used to adjust the contact between the trolley and the track to avoid insufficient driving force due to slipping.

[0006] Preferably, the horizontal adjustment mechanism includes a supporting frame, a large cylindrical gear, a small cylindrical gear, a photoelectric sensor, a box shaft, a bearing, a lower support, a rotating motor mounting frame, a rotating motor and a box side cover. The supporting frame and the lower support are fixedly connected by bolts and installed on the driving chassis as a supporting frame of the horizontal adjustment mechanism. The two sides of the cargo box are fixedly connected to the large cylindrical gear and the box side cover respectively. The large cylindrical gear is fixedly connected to the box shaft. The box shaft is installed in the shaft hole in the supporting frame through a bearing, and a retaining ring is provided on the outside for locking. The box side cover on the other side is installed in the same way. The cargo box and its connected parts as a whole can realize fixed-axis rotation with the box shaft as the axis; the rotating motor mounting frame is fixedly connected to the supporting frame, and the rotating motor is fixedly connected to the rotating motor mounting frame. The output end thereof is fixedly connected to the small cylindrical gear, and the small cylindrical gear meshes with the large cylindrical gear to realize transmission, which further drives the cargo box connected to the large cylindrical gear to rotate, thereby accurately adjusting the angle of the cargo box relative to the vehicle body. The photoelectric sensor is installed on the supporting frame, and the photoelectric sensor is electrically connected to the rotating motor.

[0007] Preferably, the cargo box includes a box body and a round box shell, a hollow area is provided inside the round box shell as an installation position for the box body, the box body is installed in the round box shell, and the box body contains transport items. The two side surfaces of the round box shell are respectively fixedly connected to the large cylindrical gear and the box side cover, and the large cylindrical gear rotates synchronously with the round box shell, thereby accurately adjusting the angle of the box body and the transport items carried in the round box shell relative to the vehicle body.

[0008] Preferably, a photoelectric contact piece is installed on the circular shell of the sensing box. The photoelectric sensor obtains the rotation angle information of the circular shell of the box through the photoelectric contact piece installed on the circular shell of the sensing box, and drives the rotating motor to rotate through the posture settlement information in combination with the real-time posture of the vehicle body obtained by the built-in gyroscope of the vehicle body, which can keep the inner shell of the box in a horizontal state, thereby achieving a stable transportation state of the materials contained in the cargo box.

[0009] Preferably, the power structure includes side plates, a driving wheel, a reducer, a reducer mounting frame, a driving motor, a motor mounting frame, a fixed rigid shaft, a rotating shaft and a climbing gear. The side plates are supporting components of the power structure, which are used to fix the rigid shaft to play a supporting role. Both sides of the rotating shaft are installed in the bearing seats of the side plates. The reducer mounting frame is installed in the middle of the rotating shaft. The reducer mounting frame can realize fixed-axis rotation with the rotating shaft as the axis. The reducer is fixedly installed on the reducer mounting frame. The driving wheel is installed on one side of the output shaft of the reducer. The climbing gear is installed between the driving wheel and the reducer and rotates coaxially with the driving wheel. The driving motor is connected to the input end of the reducer and fixedly installed on the motor mounting frame. The driving motor drives the driving wheel to rotate via the reducer.

[0010] Preferably, the guide structure includes a driven wheel, a side guide wheel and a limit block. The driven wheel is provided with a driven wheel shaft and a driven wheel bearing. The driven wheel is sleeved on the driven wheel bearing. The driven wheel shaft passes through the inner ring of the driven wheel bearing and is connected to the side plate. The side guide wheel is installed at the end of the driven wheel shaft. The limit block realizes axial limitation of the driven wheel.

[0011] Preferably, the adjustment mechanism includes a rotating shaft, a tension spring, a spring lower hanging plate, a spring upper hanging plate and an adjusting screw. The spring upper hanging plate is fixedly mounted on the side plate. The spring lower hanging plate is mounted in a sliding groove at the rear end of the motor mounting frame and can slide up and down in the groove. A threaded hole is opened above the sliding groove. The adjusting screw is screwed into the threaded hole of the spring lower hanging plate. The stroke of the spring lower hanging plate in the rear end groove of the motor mounting frame can be adjusted by adjusting the depth of the adjusting screw screwed into the threaded hole. The upper and lower ends of the tension spring are respectively mounted on bolts connected to the spring upper hanging plate and the spring lower hanging plate. The selected spring should be in a tensioned state after assembly.

[0012] Preferably, the spring lower hanging plate is subjected to a pulling force from the tension spring in the opposite direction to the normal direction of the track plane. The pulling force drives the motor mounting frame and the power structure as a whole to rotate around the rotating shaft, so that the driving wheel at the front end is subjected to a force in the direction of the track plane so as to be close to the track plane, thereby avoiding insufficient driving force due to slipping. The distance between the upper and lower hanging plates of the spring can be changed by adjusting the screw to adapt to different working conditions and springs with different elastic coefficients.

[0013] The beneficial effects of the present invention are:

[0014] 1. The self-balancing medical rail logistics trolley provided by the present invention can ensure the stable transmission of driving force between the driving climbing gear and the rail rack, achieve stable climbing, and avoid slipping.

[0015] 2. The present invention can reduce the impact of the car when it is turning and improve the curve passability.

[0016] 3. The present invention can realize the self-balancing dynamic adjustment of the cargo box and the transported materials inside it, thereby ensuring the stability of the material operation process. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of a self-balancing medical rail logistics trolley of the present invention;

[0018] Figure 2 It is a front view of the internal structure of the shell of the present invention;

[0019] Figure 3 The present invention Figure 2 A cross-sectional view of

[0020] Figure 4 is a front view of the driving chassis of the present invention;

[0021] Figure 5 The present invention Figure 4 Bottom view of

[0022] Figure 6 is a front view of the driving chassis adjustment structure of the present invention;

[0023] Figure 7 The present invention Figure 6 Isometric view of;

[0024] Figure 8 It is a left side view of the cargo box of the present invention;

[0025] Fig. 9 is a cross-sectional view of a cargo box of the present invention;

[0026] Fig.10 It is a schematic diagram of the locking structure of the box slide block of the present invention;

[0027] Fig.11 2. It is a schematic diagram for comparing the structure of the box slider of the present invention;

[0028] Fig.12 It is a structural schematic diagram of the support frame of the present invention;

[0029] Fig.13 It is a schematic diagram of the structure of the inner shell of the box of the present invention;

[0030] Fig.14 It is a structural schematic diagram of the circular shell of the box body of the present invention;

[0031] Fig.15 It is a structural schematic diagram of the lower support of the present invention;

[0032] Fig.16 It is a structural schematic diagram of the rotating electrical machine mounting frame of the present invention;

[0033] Fig.17 It is a structural schematic diagram of the box side cover of the present invention;

[0034] Fig.18 It is a structural schematic diagram of the side plate of the present invention;

[0035] Fig.19 It is a structural schematic diagram of the side support of the present invention;

[0036] Fig. 20 It is a structural schematic diagram of the bottom plate of the present invention;

[0037] Fig.21 It is a structural schematic diagram of the reducer of the present invention;

[0038] Fig. 22 It is a structural schematic diagram of the reducer mounting frame of the present invention;

[0039] Fig.23 It is a structural schematic diagram of the drive motor of the present invention;

[0040] Fig.24 It is a structural schematic diagram of the motor mounting frame of the present invention;

[0041] Fig.25 Schematic diagram of the comparison of the straight rail, horizontal curved rail and vertical curved rail structures of the present invention;

[0042] Fig.26 It is a relationship diagram of the hardware control system of the trolley of the present invention;

[0043] Fig. 27 It is the workflow diagram of the scheduling system of the present invention.

[0044] Description of reference numerals: 1, housing; 2, driving chassis; 101, support frame; 102, large cylindrical gear; 103, small cylindrical gear; 104, box body; 105, box round shell; 106, photoelectric sensor; 107, box shaft; 108, box handle; 109, box top cover; 110, box slider; 111, bearing; 112, lower support; 113, rotating motor mounting frame; 114, rotating motor; 115, box side cover; 116, box connector; 118, spring; 119 , guide shaft; 120, limit block; 121, linear bearing; 201, side plate; 202, side support; 203, driving wheel; 204, driven wheel; 205, side guide wheel; 206, limit block; 207, bottom plate; 208, reducer; 209, reducer mounting bracket; 210, drive motor; 211, motor mounting bracket; 212, fixed rigid shaft; 213, rotating shaft; 214, climbing gear; 215, tension spring; 216, spring lower hanging plate; 217, spring upper hanging plate; 218, adjusting screw. DETAILED DESCRIPTION

[0045] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments:

[0046] like Figures 1 to 27 As shown, the present invention provides a self-balancing medical rail logistics trolley, including a shell 1 and a driving chassis 2, the shell 1 is fixedly mounted on the driving chassis 2, the shell 1 includes a cargo box and a horizontal adjustment mechanism, and the driving chassis 2 includes a power structure, a guide structure and an adjustment structure. The cargo box is connected to the horizontal adjustment mechanism, and the cargo box contains transported items. The horizontal adjustment mechanism adjusts the rotation of the cargo box. The trolley formed by the shell 1 and the driving chassis 2 is located on the track, the power structure is used to drive the trolley to move on the track, the guide structure provides guidance for the movement of the trolley, and the adjustment structure is used to adjust the contact between the trolley and the track to avoid insufficient driving force caused by slipping.

[0047] The track includes a horizontal track, a vertical track, a horizontal transfer track and a vertical transfer track. In this embodiment, Fig.25 As shown, Fig.25 In the figure, (a) is a schematic diagram of a straight track structure, which is the horizontal track in this embodiment, (b) is a schematic diagram of a horizontal curved track structure, which is the horizontal switching track in this embodiment, and (c) is a schematic diagram of a vertical curved track structure, which is the vertical track in this embodiment. During operation, the driving chassis 2 is placed in the track, and the side where the climbing gear 214 is located is the forward direction of the vehicle body. When the vehicle body runs on the horizontal track arranged on the ground, it is in an upright state, and when it runs on the horizontal track suspended from the ceiling, it is in an inverted state. The vehicle body realizes the switching of different lanes and running directions through the matching switch.

[0048] like Figure 2 and Figure 3 As shown, the horizontal adjustment mechanism includes a supporting frame 101, a large cylindrical gear 102, a small cylindrical gear 103, a photoelectric sensor 106, a box shaft 107, a bearing 111, a lower support 112, a rotating motor mounting frame 113, a rotating motor 114 and a box side cover 115. The supporting frame 101 and the lower support 112 are fixedly connected by bolts and installed on the driving chassis 2 as a supporting frame of the horizontal adjustment mechanism. The two side surfaces of the cargo box are fixedly connected to the large cylindrical gear 102 and the box side cover 115 respectively. The large cylindrical gear 102 is fixedly connected to the box shaft 107. The box shaft 107 is installed in the shaft hole in the supporting frame 101 through a bearing 111, and a retaining ring is provided on the outside for locking. The box side cover 115 on the other side is installed in the same way. The cargo box and its connected parts as a whole can realize fixed-axis rotation with the box shaft 107 as the axis. The rotating motor mounting frame 113 is fixedly connected to the supporting frame 101, and the rotating motor 114 is fixedly connected to the rotating motor mounting frame 113, and its output end is fixedly connected to the small cylindrical gear 103, and the small cylindrical gear 103 is meshed with the large cylindrical gear 102 to realize transmission, and further drives the cargo box connected to the large cylindrical gear 102 to rotate, thereby accurately adjusting the angle of the cargo box relative to the vehicle body, and the photoelectric sensor 106 is installed on the supporting frame 101, and the photoelectric sensor 106 is electrically connected to the rotating motor 114.

[0049] The cargo box includes a box body liner 104 and a box round shell 105. A hollow area is provided inside the box round shell 105 as an installation position for the box body liner 104. The box body liner 104 is installed in the box round shell 105. The box body liner 104 contains transport items. The two side surfaces of the box round shell 105 are respectively fixedly connected to the large cylindrical gear 102 and the box side cover 115. The large cylindrical gear 102 rotates synchronously with the box round shell 105, thereby accurately adjusting the angle of the box body liner 104 and the transport items carried in the box round shell relative to the vehicle body.

[0050] A photoelectric contact piece is installed on the circular shell 105 of the box body. The photoelectric sensor 106 obtains the rotation angle information of the circular shell 105 of the box body by sensing the photoelectric contact piece installed on the circular shell 105 of the box body, and drives the rotating motor 114 to rotate through the posture settlement information in combination with the real-time posture of the vehicle body obtained by the built-in gyroscope of the vehicle body, which can keep the inner shell 104 of the box body in a horizontal state, thereby realizing a stable transportation state of the materials loaded in the cargo box.

[0051] In this embodiment, the photoelectric contact sheet is installed on the edge of the box round shell 105, that is, a metal sheet used in conjunction with the photoelectric sensor 106, which rotates with the box round shell 105. When it rotates to the position where the photoelectric sensor 106 overlaps, the horizontal position of the box can be located. The photoelectric sensor 106 is installed on the support frame 101. A main controller is installed in the car body, and the gyroscope is integrated in the main controller in the car body. The main controller is installed on the housing 1 and is used to control the execution of a series of functions including motors and communications in the present invention. The position settlement information is calculated and processed by the main controller in the car body, and the main controller is an existing mature technology equipment.

[0052] The box connector 116 is provided with a box handle 108, the number of which is two and symmetrically distributed, a box top cover 109 is provided between the two box handles 108, and the box top cover 109 is located on the box connector 116. The box connector 116 is provided with a box slider 110, and the box slider 110 includes a box slider base and a box slider boss that are fixedly connected as one. There are two box sliders 110 and they are connected by a spring 118, and the spring 118 is located between the box slider bases. The box sliders 110 are used to lock the box liner 104 through the linear bearing and the spring 118. Fig.11 As shown, it is a parts diagram of the box slider 110. Fig.11 (a) is a schematic diagram of the lateral structure of the box slider 110, and (b) is a schematic diagram of the reverse structure of the box slider (a). The box slider 110 is provided with two holes at the rear end of the box slider base, in which a linear bearing 121 is installed. A guide shaft 119 is passed through the linear bearing 121 to realize the sliding of the box slider 110 in the corresponding slide groove provided on the box connector 116. A locking groove is provided on the top of the box body 104, and a spring installed between the two is used to extend the box slider boss at the front end into the locking groove outside the installation position of the box body 104 to achieve locking. When in use, the user manually pushes the two box sliders inward to disengage them from the locking groove, thereby removing the box body 104 from the box shell 105 as a whole. The box slider 110 mainly realizes the functions of installing, locking, removing and replacing the box body, which is equivalent to a buckle.

[0053] In this embodiment, the box connecting member 116 is a rectangular groove structure, and the two box sliders 110 are symmetrically distributed in the box connecting member 116. A limit block 120 is provided on the box connecting member 116 and is located in the movement direction of the box slider 110. The limit block 120 serves to limit the movement of the box slider 110.

[0054] The power structure includes a side plate 201, a driving wheel 203, a reducer 208, a reducer mounting frame 209, a driving motor 210, a motor mounting frame 211, a fixed rigid shaft 212, a rotating shaft 213 and a climbing gear 214. The side plate 201 is a supporting component of the power structure, and is used to fix the rigid shaft 212 to play a supporting role. The two sides of the rotating shaft 213 are installed in the bearing seats of the side plate 201, and the reducer mounting frame 209 is installed in the middle of the rotating shaft 213. The reducer mounting frame 209 can realize fixed-axis rotation with the rotating shaft 213 as the axis, and the reducer 208 is fixedly installed on the reducer mounting frame 209. The driving wheel 203 is installed on one side of the output shaft of the reducer 208, the climbing gear 214 is installed between the driving wheel 203 and the reducer 208, and rotates coaxially with the driving wheel 203, the driving motor 210 is connected to the input end of the reducer 208 and fixedly installed on the motor mounting frame 211, and the driving motor 210 drives the driving wheel 203 to rotate through the reducer 208. The motor mounting frame 211 is installed on the reducer 208 and connected by a connecting piece. The motor mounting frame 211 is provided with a through groove structure in the vertical direction, and the spring lower hanging plate 216 slides in the groove of the motor mounting frame 211.

[0055] There are two side panels 201 and they are symmetrically distributed. A side support 202 is disposed on the top of the side panel 201. A bottom panel 207 is disposed between the two side supports 202. The side support 202 is a plate-like structure with a trapezoidal cross section. The housing 1 is fixedly mounted on the side support 202 and the bottom panel 207.

[0056] During the horizontal track operation, the driving chassis 2 is placed in the track, and the driving motor 210 drives the driving wheel 203 to rotate through the reducer 208, and drives the vehicle body to run through the friction with the track. In this state, the climbing gear 214 is idle. During the climbing track operation, the climbing gear 214 increases the climbing driving force of the vehicle body by meshing with the rack arranged on the track.

[0057] The guide structure includes a driven wheel 204, a side guide wheel 205 and a limit block 206. The driven wheel 204 is provided with a driven wheel shaft and a driven wheel bearing. The driven wheel 204 is sleeved on the driven wheel bearing. The driven wheel shaft is passed through the inner ring of the driven wheel bearing and is connected to the side plate 201. The side guide wheel 205 is installed at the end of the driven wheel shaft. The limit block 206 is installed on the driven wheel shaft and is located outside the side guide wheel 205 to realize axial limitation of the driven wheel 204.

[0058] A C-shaped groove is provided on the track. During operation, the driven wheel 204 is placed in the C-shaped groove of the track and maintains contact with the upper and lower surfaces of the guide groove to achieve guidance and support. The side guide wheel 205 contacts the side of the guide groove to achieve cornering guidance.

[0059] The adjusting mechanism comprises a rotating shaft 213, a tension spring 215, a spring lower hanging plate 216, a spring upper hanging plate 217 and an adjusting screw 218. The spring upper hanging plate 217 is fixedly mounted on the side plate 201. The spring lower hanging plate 216 is mounted in a sliding groove at the rear end of the motor mounting frame 211 and can slide up and down in the groove. A threaded hole is provided above the sliding groove. The adjusting screw 218 is screwed into the threaded hole of the spring lower hanging plate 216. The stroke of the spring lower hanging plate 216 in the rear end groove of the motor mounting frame 211 can be adjusted by adjusting the depth of the adjusting screw 218 being screwed into the threaded hole. The upper and lower ends of the tension spring 215 are respectively mounted on bolts connected to the spring upper hanging plate 217 and the spring lower hanging plate 216. The selected spring should be in a tensioned state after assembly.

[0060] During operation, the spring lower hanging plate 216 receives a pulling force from the tension spring 215 in the opposite direction to the normal direction of the track plane. The pulling force received at the spring lower hanging plate (rear end of the rotating shaft) is perpendicular to the track plane and away from the track direction. However, after passing the rotating shaft 213, the direction of the elastic force changes to the track plane (front end of the rotating shaft), so that the driving wheel is pressed against the track. The tension driving motor mounting bracket 211 and the power structure as a whole rotate around the rotating shaft 213, so that the driving wheel 203 at the front end is subjected to a force in the direction of the track plane so as to be close to the track plane, avoiding the situation of insufficient driving force caused by slipping. The distance between the upper and lower hanging plates of the spring can be changed by adjusting the screw 218 to adapt to different working conditions and springs with different elastic coefficients.

[0061] The working principle and working method of the self-balancing medical rail logistics vehicle provided in this embodiment are as follows:

[0062] First, place the rail logistics trolley at the starting position of the horizontal track. The site staff opens the upper cover of the shell and takes out the liner of the cargo box to place the transport materials. The transportation task is issued through the site controller. The scheduling system in the main controller sends the transportation instruction to the rail logistics trolley, and the power structure drives the vehicle body to operate.

[0063] The RFID reader installed on the rail trolley shell identifies the RFID tag arranged on the side surface of the track, obtains the on-track position of the rail trolley and transmits it to the control system; the infrared sensors installed at the front and rear ends of the rail trolley can detect obstacles in the front and rear, and send out deceleration and braking signals when necessary to ensure safe operation.

[0064] When the rail trolley runs to the climbing track, the climbing gear meshes with the rack arranged on the track plane to increase the climbing driving force; after climbing, the rail trolley runs on the plane track suspended from the ceiling. At this time, the car body is inverted, and the rail trolley completes the switching of the track path through the matching cross switch and parallel switch. During the climbing process, when there is an inclination between the car body and the horizontal plane, the sensor inside the shell can obtain the inclination information of the trolley in real time, and the horizontal adjustment mechanism can rotate the cargo box to a certain angle, so that the cargo box and the transported materials inside it always remain parallel to the horizontal plane, so as to achieve dynamic balance of the transported materials and ensure the stability of the transported materials.

[0065] After traveling to the destination via the track, the staff takes out the transported items and the transportation mission is completed; the rail trolley returns to the garage for charging and waits for the next transportation instruction to be issued.

[0066] Those skilled in the art will appreciate that the embodiments described herein are intended to help readers understand the principles of the present invention, and should be understood that the protection scope of the present invention is not limited to such specific statements and embodiments. Those skilled in the art can make various other specific variations and combinations that do not deviate from the essence of the present invention based on the technical revelations disclosed by the present invention, and these variations and combinations are still within the protection scope of the present invention.

Claims

1. A self-balancing medical rail logistics trolley, characterized in that: The invention comprises a shell (1) and a driving chassis (2), wherein the shell (1) is fixedly mounted on the driving chassis (2), the shell (1) comprises a cargo box and a horizontal adjustment mechanism, and the driving chassis (2) comprises a power structure, a guide structure and an adjustment structure; the cargo box is connected to the horizontal adjustment mechanism, and the cargo box contains transport items; the horizontal adjustment mechanism adjusts the rotation of the cargo box; a trolley formed by the shell (1) and the driving chassis (2) is located on a track; the power structure is used to drive the trolley to move on the track; the guide structure provides guidance for the movement of the trolley; and the adjustment structure is used to adjust the contact between the trolley and the track to avoid insufficient driving force due to slipping.

2. A self-balancing medical rail logistics vehicle according to claim 1, characterized in that: The horizontal adjustment mechanism comprises a support frame (101), a large cylindrical gear (102), a small cylindrical gear (103), a photoelectric sensor (106), a box rotating shaft (107), a bearing (111), a lower support (112), a rotating motor mounting frame (113), a rotating motor (114) and a box side cover (115). The support frame (101) and the lower support (112) are fixedly connected by bolts and installed on a driving chassis (2) as a support frame of the horizontal adjustment mechanism. The two side surfaces of the cargo box are fixedly connected to the large cylindrical gear (102) and the box side cover (115) respectively. The large cylindrical gear (102) is fixedly connected to the box rotating shaft (107). The box rotating shaft (107) is installed in a shaft hole in the support frame (101) through a bearing (111). , a retaining spring is provided on the outside for locking, and the box side cover (115) on the other side is installed in the same way. The cargo box and its connected parts as a whole can realize fixed-axis rotation with the box rotating shaft (107) as the axis; the rotating motor mounting frame (113) is fixedly connected to the supporting frame (101), and the rotating motor (114) is fixedly connected to the rotating motor mounting frame (113), and its output end is fixedly connected to the small cylindrical gear (103), and the small cylindrical gear (103) and the large cylindrical gear (102) are meshed to realize transmission, and further drive the cargo box connected to the large cylindrical gear (102) to rotate, thereby accurately adjusting the angle of the cargo box relative to the vehicle body, and the photoelectric sensor (106) is installed on the supporting frame (101), and the photoelectric sensor (106) is electrically connected to the rotating motor (114).

3. The self-balancing medical rail logistics vehicle according to claim 1, characterized in that: The cargo box comprises a box body (104) and a box body round shell (105); a hollow area is arranged inside the box body round shell (105) as a mounting position for the box body (104); the box body (104) is mounted inside the box body round shell (105); transport items are contained in the box body (104); two side surfaces of the box body round shell (105) are respectively fixedly connected to a large cylindrical gear (102) and a box body side cover (115); the large cylindrical gear (102) and the box body round shell (105) rotate synchronously, thereby accurately adjusting the angle of the box body (104) and the transport items carried in the box body round shell relative to the vehicle body.

4. The self-balancing medical rail logistics vehicle according to claim 1, characterized in that: The sensing box body round shell (105) is provided with a photoelectric contact sheet, and the photoelectric sensor (106) obtains the rotation angle information of the box body round shell (105) through the photoelectric contact sheet installed on the sensing box body round shell (105), and drives the rotating motor (114) to rotate according to the posture settlement information in combination with the real-time posture of the vehicle body obtained by the built-in gyroscope of the vehicle body, so as to keep the box body (104) in a horizontal state, thereby realizing a stable transportation state of the materials contained in the cargo box.

5. The self-balancing medical rail logistics vehicle according to claim 1, characterized in that: The power structure comprises a side plate (201), a driving wheel (203), a reducer (208), a reducer mounting frame (209), a driving motor (210), a motor mounting frame (211), a fixed rigid shaft (212), a rotating shaft (213) and a climbing gear (214); the side plate (201) is a supporting component of the power structure and is used to fix the rigid shaft (212) to play a supporting role; both sides of the rotating shaft (213) are mounted in the bearing seats of the side plate (201); the reducer mounting frame (209) is mounted in the middle of the rotating shaft (213); and the reducer mounting frame (201) is a supporting component of the power structure and is used to fix the rigid shaft (212) to play a supporting role. 9) With the rotating shaft (213) as the axis, fixed-axis rotation can be achieved. The reducer (208) is fixedly mounted on the reducer mounting frame (209). The driving wheel (203) is mounted on one side of the output shaft of the reducer (208). The climbing gear (214) is mounted between the driving wheel (203) and the reducer (208) and rotates coaxially with the driving wheel (203). The driving motor (210) is connected to the input end of the reducer (208) and is fixedly mounted on the motor mounting frame (211). The driving motor (210) drives the driving wheel (203) to rotate via the reducer (208).

6. The self-balancing medical rail logistics vehicle according to claim 1, characterized in that: The guide structure comprises a driven wheel (204), a side guide wheel (205) and a limit block (206); a driven wheel shaft and a driven wheel bearing are arranged inside the driven wheel (204); the driven wheel (204) is sleeved on the driven wheel bearing; the driven wheel shaft passes through the inner ring of the driven wheel bearing and is connected to the side plate (201); the side guide wheel (205) is installed at the end of the driven wheel shaft; and the limit block (206) realizes axial limit of the driven wheel.

7. The self-balancing medical rail logistics vehicle according to claim 1, characterized in that: The adjustment mechanism comprises a rotating shaft (213), a tension spring (215), a spring lower hanging plate (216), a spring upper hanging plate (217) and an adjusting screw (218). The spring upper hanging plate (217) is fixedly mounted on the side plate (201). The spring lower hanging plate (216) is mounted in a sliding groove at the rear end of the motor mounting frame (211) and can slide up and down in the groove. A threaded hole is provided above the sliding groove. The adjusting screw (218) is screwed into the threaded hole of the spring lower hanging plate (216). The stroke of the spring lower hanging plate (216) in the rear end groove of the motor mounting frame (211) can be adjusted by adjusting the depth of the adjusting screw (218) screwed into the threaded hole. The upper and lower ends of the tension spring (215) are respectively mounted on bolts connected to the spring upper hanging plate (217) and the spring lower hanging plate (216). The selected spring should be in a tensioned state after assembly.

8. The self-balancing medical rail logistics vehicle according to claim 1, characterized in that: The spring lower hanging plate (216) is subjected to a pulling force from the tension spring (215) in the opposite direction to the normal direction of the track plane. The pulling force drives the motor mounting frame (211) and the power structure as a whole to rotate around the rotating shaft (213), so that the driving wheel (203) at the front end is subjected to a force in the direction of the track plane so as to be closely attached to the track plane, thereby avoiding insufficient driving force due to slipping. The distance between the upper and lower hanging plates of the spring can be changed by adjusting the screw (218) to adapt to different working conditions and springs with different elastic coefficients.

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