Suspension type sky rail logistics robot

Abstract

The invention discloses a suspension type sky rail logistics robot, which relates to the technical field of logistics robots and comprises a sky rail, a walking vehicle, a hanging frame, an anti-falling mechanism, a control unit and a power supply system. The sky rail is used for being installed above the ground, and the walking vehicle can walk along the sky rail. The hanging frame is provided with an inner cavity and an opening, the inner cavity is used for containing the turnover box, and the opening communicates with the inner cavity. The hanging frame is fixedly connected with the walking trolley. The anti-disengaging mechanism comprises an anti-disengaging piece and an anti-disengaging piece driving device. When the anti-disengagement piece is located at the anti-disengagement position, the turnover box cannot penetrate through the opening. And when the anti-falling piece is located at the avoiding position, the turnover box can penetrate through the opening. The control unit comprises a walking vehicle positioning sensor, a turnover box positioning sensor and a controller. And the controller can control the actions of the walking vehicle and the anti-falling piece driving device. The power supply system comprises a storage battery which at least supplies power to the walking vehicle and the anti-disengaging piece driving device. Compared with the prior art, the suspension type sky rail logistics robot can improve the logistics efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics robots, and in particular to a suspended overhead rail logistics robot. Background Art

[0002] Traditional hospital logistics usually rely on manual work, with medical staff using trolleys and multiple elevators to transport medical supplies between different departments. This logistics method is inefficient and takes up a lot of manpower. Summary of the invention

[0003] The purpose of the present invention is to provide a suspended overhead rail logistics robot to solve the problems existing in the above-mentioned related technologies and improve logistics efficiency.

[0004] To achieve the above object, the present invention provides the following solutions: The present invention discloses a suspended overhead rail logistics robot, comprising: Ceiling rails, for installation above the ground; A traveling vehicle is installed on the overhead rail and can travel along the overhead rail; The hanging frame has an inner cavity and an opening; the inner cavity is used to accommodate the turnover box; the opening is connected to the inner cavity for the turnover box to enter and exit; the hanging frame is fixedly connected to the traveling vehicle; The anti-slip mechanism comprises an anti-slip member and an anti-slip member driving device; the anti-slip member has an anti-slip position and an avoidance position, and the anti-slip member driving device is used to drive the anti-slip member to switch between the anti-slip position and the avoidance position; when the anti-slip member is in the anti-slip position, the turnover box cannot pass through the opening; when the anti-slip member is in the avoidance position, the turnover box can pass through the opening; A control unit, comprising a trolley positioning sensor, a turnover box positioning sensor and a controller; the trolley positioning sensor is used to sense the position of the trolley and output the sensing result to the controller; the turnover box positioning sensor is used to sense the position of the turnover box and output the sensing result to the controller; the controller can control the actions of the trolley and the anti-slip member driving device; The power supply system includes a battery, and the battery is used to supply power to at least the traveling vehicle and the anti-slip component driving device.

[0005] Preferably, the suspended overhead rail logistics robot further includes an overhead rail driving device; the overhead rail is arranged in sections, and the overhead rail driving device is used to drive the displacement of the overhead rail in some sections.

[0006] Preferably, the displacement mode includes at least one of lateral displacement, vertical displacement and rotational displacement.

[0007] Preferably, the overhead rail comprises two monorails, and a gap is left between the two monorails; the traveling vehicle passes through the gap in the up-down direction, and the wheels on both sides of the traveling vehicle are in rolling contact with the two monorails respectively.

[0008] Preferably, the monorail is C-shaped, and the openings of the two monorails are facing each other; the monorail includes a web, an upper wing plate and a lower wing plate, the upper end of the web is fixedly connected to the upper wing plate, and the lower end of the web is fixedly connected to the lower wing plate; the wheel is in rolling contact with the lower wing plate.

[0009] Preferably, the wheel comprises an active support wheel, a driven support wheel and a guide wheel, the active support wheel and the driven support wheel are both in rolling contact with the upper surface of the lower wing plate, and the guide wheel is in rolling contact with the side surface of the lower wing plate.

[0010] Preferably, the inner cavity is a horizontal channel, and the number of the openings is two and they are located at two axial ends of the hanging frame.

[0011] Preferably, the suspended overhead rail logistics robot also includes an in-frame conveying system installed at the bottom of the inner cavity, and the in-frame conveying system is used to deliver the turnover box into and out of the inner cavity; the controller can control the action of the in-frame conveying system.

[0012] Preferably, the anti-slip component driving device comprises a steering gear, and an output shaft of the steering gear is fixedly connected to the anti-slip component.

[0013] Preferably, the power supply system also includes a charging plug and a charging socket, one of the charging plug and the charging socket is fixedly connected to the traveling vehicle and electrically connected to the battery, and the other is fixed to the charging position of the overhead rail and electrically connected to an external power supply line; when the traveling vehicle moves to the charging position, the charging plug is electrically connected to the charging socket.

[0014] Compared with the related art, the present invention has achieved the following technical effects: The suspended overhead rail logistics robot uses the overhead rail above the ground to transport items, which not only improves transportation efficiency, but also makes full use of the upper space of the building, giving medical staff more room for activities and storage. The traveling vehicle is powered by a battery rather than directly by the power supply line, which reduces the laying of power supply lines. When the anti-slip part is in the anti-slip position, the turnover box cannot pass through the opening, thereby preventing the turnover box from falling and ensuring safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or related technologies, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 Schematic diagram of a suspended overhead rail logistics robot according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the suspended ceiling rail logistics robot without the ceiling rail according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the overhead rail driving device causing the moving section of the overhead rail to move up and down.

[0017] In the figure: 1- ceiling rail; 2- traveling vehicle; 3- hanging frame; 4- anti-slip mechanism; 5- turnover box; 6- workbench; 11-fixed section; 12-movable section; 13-monorail; 14-connecting plate; 15-support member; 16-stud; 17-square pipe; 18-ceiling rail driving device; 21-active supporting wheel; 22-driven supporting wheel; 23-guide wheel; 31- In-frame conveying system; 41-servo; 42-anti-dropping part; 61-Conveying device. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] The purpose of the present invention is to provide a suspended overhead rail logistics robot to solve the problems existing in the above-mentioned related technologies and improve logistics efficiency.

[0020] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0021] Reference Figure 1~Figure 3 The present embodiment provides a suspended overhead rail logistics robot, including an overhead rail 1, a traveling vehicle 2, a hanging frame 3, an anti-slip mechanism 4, a control unit and a power supply system.

[0022] The overhead rail 1 is used to be installed above the ground. The traveling vehicle 2 is installed on the overhead rail 1 and can travel along the overhead rail 1. The hanging frame 3 has an inner cavity and an opening. The inner cavity is used to accommodate the turnover box 5. The opening is connected to the inner cavity for the turnover box 5 to enter and exit. The hanging frame 3 is fixedly connected to the traveling vehicle 2. The anti-slip mechanism 4 includes an anti-slip member 42 and an anti-slip member driving device. The anti-slip member 42 has an anti-slip position and an avoidance position, and the anti-slip member driving device is used to drive the anti-slip member 42 to switch between the anti-slip position and the avoidance position. When the anti-slip member 42 is in the anti-slip position, the turnover box 5 cannot pass through the opening. When the anti-slip member 42 is in the avoidance position, the turnover box 5 can pass through the opening. The control unit includes a traveling vehicle positioning sensor, a turnover box positioning sensor and a controller. The traveling vehicle positioning sensor is used to sense the position of the traveling vehicle 2 and output the sensing result to the controller. The turnover box positioning sensor is used to sense the position of the turnover box 5 and output the sensing result to the controller. The controller can control the actions of the traveling vehicle 2 and the anti-slip member driving device. The power supply system includes a battery, and the battery supplies power to at least the traveling vehicle 2 and the anti-slip component driving device.

[0023] The working principle of the suspended overhead rail logistics robot in this embodiment is as follows: The medical staff places the items to be circulated in the turnover box 5, and then delivers the turnover box 5 into the inner cavity through the opening. After that, the controller sends a control instruction to the anti-slipping member driving device, and the anti-slipping member driving device switches the anti-slipping member 42 from the avoidance position to the anti-slipping position. At this time, the turnover box 5 is confined in the inner cavity and will not fall out. After that, the controller sends a control instruction to the traveling vehicle 2, and the traveling vehicle 2 moves along the overhead rail 1 to the specified position, thereby transporting the turnover box 5 to the specified position.

[0024] The suspended overhead rail logistics robot uses the overhead rail 1 above the ground to transport items, which not only improves the transportation efficiency, but also makes full use of the upper space of the building, so that medical staff have more space for activities and storage. The walking vehicle 2 is powered by a battery rather than directly by the power supply line, which reduces the laying of the power supply line. When the anti-slip part 42 is in the anti-slip position, the turnover box 5 cannot pass through the opening, thereby preventing the turnover box 5 from falling and ensuring safety.

[0025] The specific working process of the suspended overhead rail logistics robot is as follows: After the trolley positioning sensor senses that the trolley 2 has moved to the loading position, the controller stops the trolley 2 and causes the anti-slip member driving device to place the anti-slip member 42 in the avoidance position, waiting for the turnover box 5 to be loaded. After the turnover box positioning sensor senses that the turnover box 5 is loaded into the inner cavity, the controller causes the anti-slip member driving device to place the anti-slip member 42 in the anti-slip position, and controls the trolley 2 to move to the unloading position. After the trolley positioning sensor senses that the trolley 2 has moved to the unloading position, the controller stops the trolley 2 and causes the anti-slip member driving device to place the anti-slip member 42 in the avoidance position, waiting for the turnover box 5 to be unloaded.

[0026] It can be understood that after the turnover box 5 is unloaded at the unloading position, the unloading position can be used as the loading position for a new round of transportation, or the original loading position or other position can be used as the loading position for a new round of transportation. The specific loading position is determined according to actual transportation needs.

[0027] As a possible example, in this embodiment, the suspended overhead rail logistics robot further includes an overhead rail driving device 18. The overhead rail 1 is arranged in sections, and the overhead rail driving device 18 is used to drive the displacement of a part of the overhead rail 1. That is, on the conveying path of the overhead rail 1, there are a fixed section 11 with a fixed position and a movable section 12 with a movable position, and the fixed section 11 and the movable section 12 can be detachably docked.

[0028] When the vehicle 2 enters the moving section 12, the position of the moving section 12 is changed by the overhead rail driving device 18, so that the vehicle 2 can be driven to shift. The shifting mode includes at least one of lateral shifting, vertical shifting and rotational shifting.

[0029] For example, the purpose of the shifting may be to switch the hanging frame 3 between the height of the workbench 6 and the conveying height. Since the overhead rail 1 is located in the upper space of the building, the conveying height of the hanging frame 3 is relatively high during the conveying process, and the labor-saving operating height of the medical staff is the height of the workbench 6. Therefore, by means of vertical shifting, the hanging frame 3 can be lowered to the height of the workbench 6 to facilitate the loading and unloading of the turnover box 5. When a conveying device 61 is provided on the workbench 6, the degree of automation of the loading and unloading process of the turnover box 5 can be improved.

[0030] Exemplarily, the purpose of the displacement may also be to allow the mobile section 12 to dock with different fixed sections 11, thereby changing the transport path by changing the track.

[0031] For example, in order to reduce the shaking of the turnover box 5 and prevent the liquid in the container of the turnover box 5 from overflowing, the overhead rail 1 is preferably arranged horizontally. The moving section 12 still maintains a horizontal posture during the movement.

[0032] As a possible example, in this embodiment, the overhead rail 1 includes two monorails 13, and a gap is left between the two monorails 13. The vehicle 2 passes through the gap in the up-down direction, and the wheels on both sides of the vehicle 2 are in rolling contact with the two monorails 13 respectively. The two monorails 13 can not only support the vehicle 2, but also limit the vehicle 2 from the left and right sides respectively, so as to reduce the shaking of the vehicle 2 in the left and right directions.

[0033] As a possible example, in this embodiment, the monorail 13 is C-shaped, and the openings of the two monorails 13 face each other. The monorail 13 includes a web, an upper wing plate, and a lower wing plate. The upper end of the web is fixedly connected to the upper wing plate, and the lower end of the web is fixedly connected to the lower wing plate. The wheel is in rolling contact with the lower wing plate.

[0034] The upper wing plate is used to be fixedly connected to the upper structure to realize the positioning of the monorail 13 , the web is used to fix the upper wing plate to the lower wing plate, and the lower wing plate is used to support the traveling vehicle 2 .

[0035] It is understandable that the shape of the monorail 13 may also be Z-shaped, in which case the upper wing plate and the lower wing plate are respectively located on both sides of the web plate, and the lower wing plate is located between the web plates of the two monorails 13 .

[0036] Exemplarily, the overhead rail 1 also includes a connecting plate 14, a support member 15, a stud 16 and a square tube 17. The upper wing plates of the two monorails 13 are fixedly connected to the connecting plate 14 by bolts and nuts, the lower end of the stud 16 passes through the connecting plate 14 and is locked by a nut, and the upper end of the stud 16 passes through the square tube 17 and is locked by a nut. The square tube 17 is fixed to the top of the building (fixed section 11) by expansion bolts, or is fixedly connected to the moving end of the overhead rail driving device 18 (moving section 12). The support member 15 includes an angle iron and a rib plate, and the rib plate is fixedly connected to the vertical limb and horizontal limb of the angle iron respectively, the vertical limb of the angle iron is fixedly connected to the web of the monorail 13, and the horizontal limb of the angle iron is fixedly connected to the connecting plate 14.

[0037] As a possible example, in this embodiment, the wheel includes an active support wheel 21, a driven support wheel 22 and a guide wheel 23, the active support wheel 21 and the driven support wheel 22 are both in rolling contact with the upper surface of the lower wing plate, and the guide wheel 23 is in rolling contact with the side of the lower wing plate.

[0038] Exemplarily, the number of active support wheels 21 is two and fixed at both ends of the driving shaft, the number of driven support wheels 22 is two and fixed at both ends of the driven shaft, and the number of guide wheels 23 is four and fixed on four guide wheel shafts respectively. The traveling vehicle 2 also includes a frame and a driving motor, and the driving motor is connected to the driving shaft by transmission. The driving motor is fixed to the frame, and the driving shaft, the driven shaft and the guide wheel shaft are all rotatably mounted on the frame. The driving shaft and the driven shaft are arranged horizontally, and the four guide wheel shafts are arranged vertically and distributed in a rectangular shape.

[0039] As a possible example, in this embodiment, the inner cavity is a horizontal channel with two openings located at the axial ends of the hanging frame 3. The turnover box 5 can enter and exit the inner cavity from both ends, thereby improving the flexibility of the loading and unloading process to adapt to different building layouts.

[0040] As a possible example, in this embodiment, the suspended overhead rail logistics robot further includes an in-frame conveying system 31 installed at the bottom of the inner cavity, and the in-frame conveying system 31 is used to convey the turnover box 5 into and out of the inner cavity. The controller can control the action of the in-frame conveying system 31.

[0041] The conveying of the turnover box 5 by the in-frame conveying system 31 can improve the automation of the loading and unloading process and reduce manual operations. When the in-frame conveying system 31 is used in combination with the conveying device 61 on the workbench 6, fully automatic loading and unloading can be achieved.

[0042] Exemplarily, the above-mentioned in-frame conveying system 31 and conveying device 61 can be common types such as belt conveyors and roller conveyors.

[0043] As a possible example, in this embodiment, the anti-slip member driving device includes a steering gear 41, and the output shaft of the steering gear 41 is fixedly connected to the anti-slip member 42. In order to reduce space occupation, the anti-slip member 42 is a rod.

[0044] As a possible example, in this embodiment, the power supply system further includes a charging plug and a charging socket, one of which is fixedly connected to the vehicle 2 and electrically connected to the battery, and the other is fixed to the charging position of the overhead rail 1 and electrically connected to the external power supply line. When the vehicle 2 moves to the charging position, the charging plug is electrically connected to the charging socket.

[0045] The charging position here can be a separate charging position, or it can overlap with the loading position or the unloading position. When the charging position overlaps with the loading position or the unloading position, charging can be performed while waiting for the turnover box 5 to be loaded or unloaded, thereby reducing the impact of the charging process on logistics.

[0046] As a possible example, in this embodiment, the vehicle positioning sensor is fixed on the frame of the vehicle 2, the turnover box positioning sensor is fixed in the inner cavity, and the battery supplies power to the vehicle positioning sensor and the turnover box positioning sensor.

[0047] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A suspended overhead rail logistics robot, characterized in that: include: Ceiling rails, for installation above the ground; A traveling vehicle is installed on the overhead rail and can travel along the overhead rail; The hanging frame has an inner cavity and an opening; the inner cavity is used to accommodate the turnover box; the opening is connected to the inner cavity for the turnover box to enter and exit; the hanging frame is fixedly connected to the traveling vehicle; The anti-slip mechanism comprises an anti-slip member and an anti-slip member driving device; the anti-slip member has an anti-slip position and an avoidance position, and the anti-slip member driving device is used to drive the anti-slip member to switch between the anti-slip position and the avoidance position; when the anti-slip member is in the anti-slip position, the turnover box cannot pass through the opening; when the anti-slip member is in the avoidance position, the turnover box can pass through the opening; A control unit, comprising a trolley positioning sensor, a turnover box positioning sensor and a controller; the trolley positioning sensor is used to sense the position of the trolley and output the sensing result to the controller; the turnover box positioning sensor is used to sense the position of the turnover box and output the sensing result to the controller; the controller can control the actions of the trolley and the anti-slip member driving device; The power supply system includes a battery, and the battery is used to supply power to at least the traveling vehicle and the anti-slip component driving device.

2. The suspended overhead rail logistics robot according to claim 1, characterized in that: It also includes a ceiling rail driving device; the ceiling rail is arranged in sections, and the ceiling rail driving device is used to drive the ceiling rail in some sections to shift.

3. The suspended overhead rail logistics robot according to claim 2, characterized in that: The displacement mode includes at least one of lateral displacement, vertical displacement and rotational displacement.

4. The suspended overhead rail logistics robot according to claim 1, characterized in that: The overhead rail comprises two monorails, and a gap is left between the two monorails; the traveling vehicle passes through the gap in the up-down direction, and the wheels on both sides of the traveling vehicle are in rolling contact with the two monorails respectively.

5. The suspended overhead rail logistics robot according to claim 4, characterized in that: The monorail is C-shaped, and the openings of the two monorails are facing each other; the monorail includes a web, an upper wing plate and a lower wing plate, the upper end of the web is fixedly connected to the upper wing plate, and the lower end of the web is fixedly connected to the lower wing plate; the wheel is in rolling contact with the lower wing plate.

6. The suspended overhead rail logistics robot according to claim 5, characterized in that: The wheel comprises an active support wheel, a driven support wheel and a guide wheel. The active support wheel and the driven support wheel are both in rolling contact with the upper surface of the lower wing plate, and the guide wheel is in rolling contact with the side surface of the lower wing plate.

7. The suspended overhead rail logistics robot according to claim 1, characterized in that: The inner cavity is a horizontal channel, and the number of the openings is two and they are located at two axial ends of the hanging frame.

8. The suspended overhead rail logistics robot according to claim 1, characterized in that: It also includes an in-frame conveying system installed at the bottom of the inner cavity, and the in-frame conveying system is used to convey the turnover box into and out of the inner cavity; the controller can control the action of the in-frame conveying system.

9. The suspended overhead rail logistics robot according to claim 1, characterized in that: The anti-dropping member driving device comprises a steering gear, and an output shaft of the steering gear is fixedly connected to the anti-dropping member.

10. The suspended overhead rail logistics robot according to claim 1, characterized in that: The power supply system also includes a charging plug and a charging socket, one of the charging plug and the charging socket is fixedly connected to the walking vehicle and electrically connected to the battery, and the other is fixed to the charging position of the overhead rail and electrically connected to an external power supply line; When the traveling vehicle travels to the charging position, the charging plug is electrically connected to the charging socket.

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