Intelligent suspension conveying robot

Abstract

The invention discloses an intelligent suspension conveying robot, belongs to the technical field of suspension conveying, and aims to solve the problems that a suspension robot is clamped when moving to a track deformation position and the suspension robot slips on a track. The intelligent suspension conveying robot is characterized in that a mounting seat is arranged below the track, and U-shaped frames are fixedly arranged on the outer walls of the two sides of the mounting seat respectively; a transmission assembly is arranged on the U-shaped frame in a sliding mode, a bidirectional electric cylinder is fixedly arranged on the top face of the installation base, a second sliding base is further arranged on the U-shaped frame in a sliding mode, a pair of motors is embedded in the first sliding base and the second sliding base respectively, rotating wheels are fixedly connected to output shafts of the motors, and meshing assemblies are arranged on the rotating wheels. According to the anti-slip suspension robot, the phenomenon that suspension conveying is stopped due to the fact that the suspension robot cannot move forwards can be prevented through rail transfer operation, and the telescopic toothed plate and the anti-slip teeth can be driven to be in a meshed state through electromagnetic force so as to achieve the anti-slip effect.

Description

Technical Field

[0001] This invention relates to the field of overhead conveying technology, specifically to an intelligent overhead conveying robot. Background Technology

[0002] A suspended conveyor robot is a device that moves suspended on a pre-set track. It is generally used for transporting materials and is a commonly used suspended conveyor in industry. Because using suspended robots for material transport has advantages such as saving space, not affecting ground operations, and high level of intelligence, suspended conveyor robots are widely used in logistics warehousing, food processing, automobile production, and various manufacturing industries, with a wide range of applications.

[0003] Although overhead conveyor robots have been widely used in various fields, there are still many shortcomings in their use, as follows: Overhead robots run along preset tracks. Therefore, when the tracks are used for a long time or under heavy loads, fatigue deformation can easily occur. When the overhead robot reaches the deformed part of the track, it will get stuck, causing the overhead conveyor to stop and affecting the normal transport of materials. In addition, when overhead robots transport heavy materials, they may slip on the track, which will not only affect the conveying efficiency but also accelerate the wear between the overhead robot and the track.

[0004] To address the above issues, an intelligent suspended conveying robot is proposed. Summary of the Invention

[0005] The purpose of this invention is to provide an intelligent suspended conveying robot. By using this device, the problem mentioned above is solved: when the suspended robot travels to a deformed position on the track, it gets stuck, causing the suspended conveying to stop and affecting the normal transport of materials. In addition, it also solves the problem that when the suspended robot transports heavy materials, it slips on the track, which not only affects the transport efficiency but also aggravates the wear between the suspended robot and the track.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an intelligent suspended conveying robot, comprising several support columns, a track fixedly mounted on the support columns, a mounting base below the track, a hook at the bottom of the mounting base, U-shaped frames fixedly mounted on the outer walls of both sides of the mounting base, a transmission component slidably mounted on the U-shaped frame, a first slide fixedly mounted at one end of the transmission component, a bidirectional electric cylinder fixedly mounted on the top surface of the mounting base, the output ends of the bidirectional electric cylinder being fixedly connected to two transmission components respectively, a second slide slidably mounted on the U-shaped frame, the other end of the transmission component being movably connected to the second slide, a pair of motors embedded inside the first and second slides respectively, a wheel fixedly connected to the output shaft of the motor, the wheel engaging with the track, a meshing component mounted on the wheel, the meshing component engaging with the track, an electromagnetic component fixedly mounted on the top surface of the first and second slides respectively, and a torque sensor mounted at the connection between the output shaft of the motor and the wheel.

[0007] Furthermore, the track includes a track body fixedly installed on a support column. A first annular track and a second annular track are fixedly installed on the side wall of the track body, and the second annular track is positioned above the first annular track. Several anti-slip teeth are fixedly installed on the first annular track and the second annular track, respectively, and the anti-slip teeth can engage with the meshing component.

[0008] Furthermore, the U-shaped frame includes a U-shaped frame body fixedly installed on the side wall of the mounting base, and the U-shaped frame body is provided with a horizontal sliding groove and a vertical sliding groove respectively.

[0009] Furthermore, the transmission assembly includes a slider one that is slidably installed in a horizontal slide groove. Slider one is fixedly connected to the first slide block by an L-shaped fixing plate. Slider two is slidably installed in a vertical slide groove. Slider one and slider two are movably connected by a connecting rod one. Slider two is movably connected to the second slide block by a connecting rod two.

[0010] Furthermore, the second slide includes a slide body that is slidably mounted on the U-shaped frame body, and a mounting ear is fixedly mounted on the side wall of the slide body. The second slider and the mounting ear are movably connected through a connecting rod.

[0011] Furthermore, the impeller includes an impeller body fixedly connected to the motor output shaft, a clearance groove is provided on the impeller body, and a number of receiving grooves are provided on the circumferential sidewall of the impeller body, and the number of receiving grooves are respectively connected to the clearance groove.

[0012] Furthermore, the meshing assembly includes a housing fixedly installed on the top surface of the main body of the wheel, and the housing and the relief groove are concentrically arranged. A top post is vertically slidably installed on the side wall of the inner cavity of the housing. The top post and the housing are elastically connected by a spring. A permanent magnet is fixedly installed on the top surface of the top post. The permanent magnet and the relief groove are concentrically arranged. A telescopic toothed plate is horizontally slidably installed in the inner cavity of the receiving groove. The telescopic toothed plate and the anti-slip tooth can form a meshing relationship. A fixing block is also fixedly installed in the inner cavity of the receiving groove. The side wall of the telescopic toothed plate and the side wall of the fixing block are elastically connected by a spring.

[0013] Furthermore, the electromagnetic component includes a T-shaped frame, with the T-shaped frame fixedly mounted on both the first and second slides, and electromagnets fixedly mounted on both ends of the T-shaped frame.

[0014] Furthermore, the telescopic toothed plate and the anti-slip tooth can be engaged.

[0015] Furthermore, the end of the telescopic toothed plate near the top column is designed with an arc surface, and the bottom of the top column is also designed with an arc surface.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. When the first or second annular track in this invention experiences fatigue deformation, the track-changing operation can prevent the suspended robot from being unable to move forward, thus terminating the suspended transport and improving the equipment's adaptability.

[0017] 2. In this invention, during the track switching process of the two wheels corresponding to the first slide and the two wheels corresponding to the second slide, there is an overlap in space, which avoids the problem of connection interruption during track change, thereby preventing the suspended robot from falling off the track and causing personnel injury and economic loss.

[0018] 3. When the wheel in this invention slips on the track, it can use electromagnetic force to drive the telescopic tooth plate and the anti-slip tooth to engage, thereby achieving an anti-slip effect and ensuring good suspension conveying efficiency.

[0019] 4. In this invention, after the motor drives the wheel away from the slippage position, the slippage position is marked. When it approaches the slippage position again, the telescopic tooth plate and the anti-slip tooth are engaged to achieve the anti-slip effect. This method transforms the traditional passive response into active prevention, which has a better active anti-slip capability and can also reduce the wear between the wheel and the track.

[0020] 5. When the robot is about to reach the marked slip position, it can slow down in advance and then make the telescopic toothed plate and the anti-slip toothed plate engage. During this process, because the deceleration is slow, compared with rapid braking, it can avoid the phenomenon of violent shaking of materials. This not only prevents the materials from being damaged or spilled, but also helps to maintain the stable operation of the robot. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 for Figure 1 Enlarged view of point A; Figure 3 This is a side view of the overall structure of the present invention; Figure 4 This is a schematic diagram showing the installation positions of the U-shaped frame and transmission assembly of the present invention; Figure 5 This is a cross-sectional schematic diagram of the U-shaped frame and transmission assembly of the present invention; Figure 6 This is a schematic diagram of the horizontal angle of the impeller and meshing assembly of the present invention; Figure 7 for Figure 6 Enlarged view of point B; Figure 8 This is a vertical sectional view of the wheel and meshing assembly of the present invention; Figure 9 for Figure 8 Enlarged view of point C.

[0022] In the diagram: 1. Support column; 2. Track; 21. Track body; 22. First circular track; 23. Second circular track; 24. Anti-slip teeth; 3. Mounting base; 4. U-shaped frame; 41. U-shaped frame body; 42. Horizontal slide groove; 43. Vertical slide groove; 5. Transmission assembly; 51. Slider one; 52. L-shaped fixing plate; 53. Slider two; 54. Connecting rod one; 55. Connecting rod two; 6. First slide block; 7. Two-way electric cylinder; 8. Motor 9. Rotary wheel; 91. Rotary wheel body; 92. Clearance groove; 93. Storage groove; 10. Engaging assembly; 101. Housing; 102. Top column; 103. Spring one; 104. Permanent magnet; 105. Telescopic toothed plate; 106. Fixing block; 107. Spring two; 20. Electromagnetic assembly; 201. T-shaped frame; 202. Electromagnet; 30. Second slide; 301. Slide body; 302. Mounting ear; 40. Torque sensor. Detailed Implementation

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] To address the technical problem of the suspended robot getting stuck at the deformed position of track 2, causing the suspended conveyor to stop and affecting the normal transport of materials, such as... Figures 1-5 As shown, the following preferred technical solutions are provided: like Figure 1 As shown, an intelligent suspended conveying robot includes several support columns 1, on which a track 2 is fixedly mounted. The support columns 1 are used to support and fix the track 2 to ensure that the suspended robot can run smoothly on the track 2. A mounting base 3 is provided below the track 2. The mounting base 3 is used to install parts, and a hook is provided at the bottom of the mounting base 3 for carrying materials.

[0025] like Figure 4 As shown, U-shaped frames 4 are fixedly installed on the outer walls of both sides of the mounting base 3. A transmission component 5 is slidably installed on the U-shaped frame 4. A first slide block 6 is fixedly installed at one end of the transmission component 5. The U-shaped frame 4 is used to limit the transmission component 5 to ensure that the transmission component 5 can move according to the preset trajectory. A bidirectional electric cylinder 7 is fixedly installed on the top surface of the mounting base 3. The output ends on both sides of the bidirectional electric cylinder 7 are fixedly connected to the two transmission components 5 respectively. A second slide block 30 is also slidably installed on the U-shaped frame 4. The other end of the transmission component 5 is movably connected to the second slide block 30. The bidirectional electric cylinder 7 drives the transmission component 5 to slide on the U-shaped frame 4, which can drive the first slide block 6 and the second slide block 30 to move in opposite directions to realize the track change operation. When the track 2 is fatigued and deformed, and the suspended robot is stuck in the deformed position and cannot continue to move forward, the track change operation can be realized by the above-mentioned reverse movement between the first slide block 6 and the second slide block 30, so that the suspended robot can bypass the deformed position of the track 2 and ensure the smooth operation of the suspended transport work.

[0026] A pair of motors 8 are embedded inside the first slide block 6 and the second slide block 30, respectively. A rotating wheel 9 is fixedly connected to the output shaft of each motor 8. The rotating wheel 9 engages with the track 2. The motor 8 drives the rotating wheel 9 to rotate on the track 2, and under the action of friction, propels the entire suspended robot forward, thereby realizing the suspended transport of materials. A meshing component 10 is provided on the rotating wheel 9, which can form a meshing relationship with the track 2. Electromagnetic components 20 are fixedly installed on the top surfaces of the first slide block 6 and the second slide block 30, respectively. Figure 8As shown, a torque sensor 40 is installed at the connection between the output shaft of motor 8 and the wheel 9. When there is too much oil on the track 2 or when the suspended robot is transporting heavy materials, slippage may occur. At this time, the speed of motor 8 is reduced and the electromagnetic component 20 is energized, so that the electromagnetic component 20 generates a magnetic repulsion force relative to the meshing component 10. Under the action of the magnetic repulsion force, the meshing component 10 starts to run and meshes with the track 2. When the meshing component 10 and the track 2 are in the meshing state, and since the position of the track 2 is fixed, the wheel 9 will not slip. Under the action of meshing, motor 8 drives the wheel 9 to gradually move away from the slipping position, thus achieving the anti-slipping effect.

[0027] like Figure 1 As shown, the track 2 includes a track body 21 fixedly installed on the support column 1. A first annular track 22 and a second annular track 23 are fixedly installed on the side wall of the track body 21, and the second annular track 23 is located above the first annular track 22. Several anti-slip teeth 24 are fixedly installed on the first annular track 22 and the second annular track 23, respectively. The anti-slip teeth 24 can engage with the meshing component 10 to achieve anti-slip operation.

[0028] In the initial state, the two corresponding wheels 9 on the first slide 6 are engaged on the first annular track 22, allowing the suspended robot to move along the first annular track 22. When the first annular track 22 experiences fatigue deformation, the bidirectional electric cylinder 7 drives the transmission component 5 to slide on the U-shaped frame 4, which can drive the first slide 6 and the second slide 30 to move in opposite directions, thereby pulling the two corresponding wheels 9 on the first slide 6 out of the first annular track 22. At the same time, the two corresponding wheels 9 on the second slide 30 are engaged on the second annular track 23, at which point the suspended robot moves along the second annular track 23. Conversely, when the second annular track 23 experiences fatigue deformation, the above process can be reversed to restore the initial state, and the suspended robot can move along the first annular track 22 again. This track-changing operation can prevent the phenomenon of the suspended robot being unable to move forward, causing the suspension delivery to terminate, and improve the adaptability of the equipment.

[0029] like Figure 5 As shown, the U-shaped frame 4 includes a U-shaped frame body 41 fixedly installed on the side wall of the mounting base 3, and the U-shaped frame body 41 is provided with a horizontal sliding groove 42 and a vertical sliding groove 43 respectively.

[0030] like Figure 5As shown, the transmission assembly 5 includes a slider 51 that is slidably installed in the transverse slide groove 42. The slider 51 is fixedly connected to the first slide block 6 by an L-shaped fixing plate 52. A slider 53 is slidably installed in the vertical slide groove 43. The slider 51 and the slider 53 are movably connected by a connecting rod 54. The slider 53 is movably connected to the second slide block 30 by a connecting rod 55.

[0031] like Figure 5 As shown, the second slide block 30 includes a slide block body 301 that is slidably mounted on the U-shaped frame body 41. A mounting ear 302 is fixedly mounted on the side wall of the slide block body 301. The second slider 53 and the mounting ear 302 are movably connected through a connecting rod 55.

[0032] like Figure 1 and Figures 4-5 As shown, specifically, in the initial state, the two corresponding wheels 9 on the first slide block 6 are engaged on the first annular track 22, causing the suspended robot to move along the first annular track 22. When the first annular track 22 experiences fatigue deformation, the output shafts on both sides of the bidirectional electric cylinder 7 extend synchronously. During the extension process, the slider 1 51 is pushed to slide away from the first annular track 22 inside the transverse groove 42. At the same time, the slider 1 51 drives the first slide block 6 to slide away from the first annular track 22 through the L-shaped fixing plate 52, causing the two corresponding wheels 9 on the first slide block 6 to gradually disengage from the first annular track 22. During the sliding of the slider 1 51, the connecting rod 1 54 pushes the slider 2 53 to slide upward inside the vertical groove 43. During the sliding of the slider 2 53, the connecting rod 2 55 pushes the second slide block 30 to slide closer to the second annular track 23. At the same time, the two corresponding wheels 9 on the second slide block 30 are engaged on the second annular track 23, and the suspended robot moves along the second annular track 23.

[0033] When the second annular track 23 experiences fatigue deformation, simply reverse the above process to restore it to its initial state, and the suspended robot will move along the first annular track 22 again. It should be noted that during the track switching process between the two wheels 9 corresponding to the first slide block 6 and the two wheels 9 corresponding to the second slide block 30, there is an overlap in space. This prevents the two wheels 9 corresponding to the first slide block 6 from falling off the first annular track 22 when the two wheels 9 corresponding to the second slide block 30 are not engaged with the second annular track 23. This avoids the problem of connection interruption during track switching, and thus prevents the suspended robot from falling off the track 2, causing personnel injury and economic losses. Conversely, the same principle applies.

[0034] When fatigue deformation occurs in the first annular track 22 or the second annular track 23, this track-changing operation can prevent the suspended robot from being unable to move forward, thus stopping the suspended delivery and improving the equipment's adaptability.

[0035] To address the technical issue of slippage on track 2 when the suspended robot transports heavy materials, which not only affects conveying efficiency but also exacerbates wear between the suspended robot and track 2, such as... Figure 2 , Figure 5 and Figures 6-9 As shown, the following preferred technical solutions are provided: like Figures 6-7 As shown, the wheel 9 includes a wheel body 91 fixedly connected to the output shaft of the motor 8. A clearance groove 92 is provided on the wheel body 91, and a plurality of storage grooves 93 are provided on the circumferential side wall of the wheel body 91, and the plurality of storage grooves 93 are respectively connected to the clearance groove 92.

[0036] like Figures 8-9 As shown, the meshing assembly 10 includes a housing 101 fixedly installed on the top surface of the wheel body 91, and the housing 101 and the relief groove 92 are concentrically arranged. A top column 102 is vertically slidably installed on the side wall of the inner cavity of the housing 101. The top column 102 and the housing 101 are elastically connected by a spring 103. A permanent magnet 104 is fixedly installed on the top surface of the top column 102. The permanent magnet 104 and the relief groove 92 are concentrically arranged. A telescopic toothed plate 105 is horizontally slidably installed in the inner cavity of the storage groove 93. The telescopic toothed plate 105 and the anti-slip tooth 24 can form a meshing relationship. A fixing block 106 is also fixedly installed in the inner cavity of the storage groove 93. The side wall of the telescopic toothed plate 105 and the side wall of the fixing block 106 are elastically connected by a spring 107.

[0037] like Figure 2 , Figure 5 and Figure 9 As shown, the electromagnetic component 20 includes a T-shaped frame 201. The T-shaped frame 201 is fixedly installed on both the first slide 6 and the second slide 30. Electromagnets 202 are fixedly installed at both ends of the T-shaped frame 201. The telescopic toothed plate 105 and the anti-slip tooth 24 can be engaged and connected.

[0038] like Figure 9 As shown, the telescopic toothed plate 105 is curved at one end near the top post 102, and the bottom of the top post 102 is also curved. By setting the curved surface, not only can wear between components be reduced, but it can also serve as a guide. When the top post 102 moves downward, the curved surface can push the telescopic toothed plate 105 to extend out of the storage groove 93 and engage with the anti-slip teeth 24 to achieve an anti-slip effect.

[0039] Specifically, when there is excessive oil on track 2 or during the transport of heavy materials by the suspended robot, slippage may occur, affecting not only the suspension conveying efficiency but also exacerbating the wear between the wheel 9 and track 2. When the controller (not shown) detects a sudden increase in the speed of motor 8 and a sudden decrease in the value of torque sensor 40, it is determined that the wheel 9 is slipping. At this time, the speed of motor 8 is reduced, and electromagnet 202 is energized, causing electromagnet 202 to generate magnetic repulsion relative to permanent magnet 104. Under the action of magnetic repulsion, the top column 102 slides downward on the outer shell 101, and with the cooperation of the arc surface, the top column 102... The motor 8 will push multiple telescopic toothed plates 105 outwards from the storage slot 93 simultaneously. When the maximum sliding distance is reached, the telescopic toothed plates 105 stop sliding. When the rotating wheel 9 rotates, it can drive the multiple telescopic toothed plates 105 to rotate. During the rotation, the telescopic toothed plates 105 can engage with the anti-slip teeth 24. When the telescopic toothed plates 105 and the anti-slip teeth 24 are engaged, and since the position of the anti-slip teeth 24 is fixed, the rotating wheel 9 will not slip due to the cooperation between the telescopic toothed plates 105 and the anti-slip teeth 24. Under the engagement of the telescopic toothed plates 105 and the anti-slip teeth 24, the motor 8 drives the rotating wheel 9 to gradually move away from the slipping position.

[0040] After the motor 8 drives the wheel 9 away from the slippage position and marks the slippage position, when it approaches the slippage position again, the suspended robot can slow down slowly in advance, so that the telescopic toothed plate 105 and the anti-slip tooth 24 are engaged, thus preventing slippage. This method transforms the traditional passive response into active prevention, which has better active anti-slip capability and can also reduce the wear between the wheel 9 and the track 2. Moreover, in this process, since the suspended robot slows down slowly, compared with rapid braking, it can avoid the phenomenon of violent shaking of materials, which not only prevents material damage or spillage, but also helps to maintain the stable operation of the suspended robot. When there is no slippage, the electromagnet 202 is de-energized. Under the elastic force of spring 103 and spring 2107, the top column 102 and the telescopic toothed plate 105 begin to reset, thereby disengaging the telescopic toothed plate 105 from the anti-slip tooth 24, which helps to reduce the wear between the telescopic toothed plate 105 and the anti-slip tooth 24.

[0041] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0042] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An intelligent suspended conveying robot, comprising a plurality of support columns (1), a track (2) fixedly mounted on the plurality of support columns (1), a mounting base (3) disposed below the track (2), and a hook disposed at the bottom of the mounting base (3), characterized in that: U-shaped frames (4) are fixedly installed on the outer walls of both sides of the mounting base (3). A transmission assembly (5) is slidably installed on the U-shaped frame (4). A first slide block (6) is fixedly installed at one end of the transmission assembly (5). A bidirectional electric cylinder (7) is fixedly installed on the top surface of the mounting base (3). The output ends of the bidirectional electric cylinder (7) on both sides are fixedly connected to the two transmission assemblies (5) respectively. A second slide block (30) is also slidably installed on the U-shaped frame (4). The other end of the transmission assembly (5) is movably connected to the second slide block (30). A pair of motors (8) are embedded inside the seat (6) and the second slide (30). A wheel (9) is fixedly connected to the output shaft of the motor (8). The wheel (9) is engaged on the track (2). A meshing component (10) is provided on the wheel (9). The meshing component (10) and the track (2) can form a meshing relationship. An electromagnetic component (20) is fixedly provided on the top surface of the first slide (6) and the second slide (30). A torque sensor (40) is provided at the connection between the output shaft of the motor (8) and the wheel (9).

2. The intelligent suspended conveyor robot according to claim 1, characterized in that: The track (2) includes a track body (21) fixedly installed on the support column (1). A first annular track (22) and a second annular track (23) are fixedly installed on the side wall of the track body (21), and the second annular track (23) is located above the first annular track (22). Several anti-slip teeth (24) are fixedly installed on the first annular track (22) and the second annular track (23), and the anti-slip teeth (24) can engage with the meshing component (10).

3. The intelligent suspended conveyor robot according to claim 1, characterized in that: The U-shaped frame (4) includes a U-shaped frame body (41) fixedly installed on the side wall of the mounting base (3), and a horizontal slide groove (42) and a vertical slide groove (43) are respectively opened on the U-shaped frame body (41).

4. The intelligent suspended conveyor robot according to claim 3, characterized in that: The transmission assembly (5) includes a slider one (51) that is slidably installed in the transverse slide groove (42). The slider one (51) is fixedly connected to the first slide block (6) by an L-shaped fixing plate (52). A slider two (53) is slidably installed in the vertical slide groove (43). The slider one (51) and the slider two (53) are movably connected by a connecting rod one (54). The slider two (53) and the second slide block (30) are movably connected by a connecting rod two (55).

5. The intelligent suspended conveyor robot according to claim 4, characterized in that: The second slide (30) includes a slide body (301) that is slidably mounted on the U-shaped frame body (41). A mounting ear (302) is fixedly mounted on the side wall of the slide body (301). The second slider (53) and the mounting ear (302) are movably connected by a connecting rod (55).

6. The intelligent suspended conveyor robot according to claim 2, characterized in that: The wheel (9) includes a wheel body (91) fixedly connected to the output shaft of the motor (8). A clearance groove (92) is provided on the wheel body (91). Several storage grooves (93) are provided on the circumferential side wall of the wheel body (91), and the several storage grooves (93) are respectively connected to the clearance groove (92).

7. The intelligent suspended conveyor robot according to claim 6, characterized in that: The meshing assembly (10) includes a housing (101) fixedly installed on the top surface of the main body (91) of the wheel, and the housing (101) and the relief groove (92) are concentrically arranged. A top column (102) is vertically slidably installed on the side wall of the inner cavity of the housing (101). The top column (102) and the housing (101) are elastically connected by a spring (103). A permanent magnet (104) is fixedly installed on the top surface of the top column (102). The permanent magnet (104) and the relief groove (92) are concentrically arranged. A telescopic toothed plate (105) is horizontally slidably installed in the inner cavity of the storage groove (93). The telescopic toothed plate (105) and the anti-slip tooth (24) can form a meshing relationship. A fixing block (106) is also fixedly installed in the inner cavity of the storage groove (93). The side wall of the telescopic toothed plate (105) and the side wall of the fixing block (106) are elastically connected by a spring (107).

8. The intelligent suspended conveyor robot according to claim 1, characterized in that: The electromagnetic component (20) includes a T-shaped frame (201), and the T-shaped frame (201) is fixedly installed on the first slide (6) and the second slide (30). Electromagnets (202) are fixedly installed at both ends of the T-shaped frame (201).

9. The intelligent suspended conveyor robot according to claim 7, characterized in that: The telescopic toothed plate (105) and the anti-slip tooth (24) can be engaged.

10. The intelligent suspended conveying robot according to claim 7, characterized in that: The telescopic toothed plate (105) is curved at one end near the top column (102), and the bottom of the top column (102) is curved.

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