An automated storage system for radiotherapy molds

Abstract

This invention relates to the technical field of storage devices, and more specifically, to an automated storage system for radiotherapy molds. The system includes a shelf, a material bin, a connecting mechanism, an unmanned vehicle (UAV), a material bin transport device, and a cleaning mechanism. The material bins are stored on the shelf. The connecting mechanism for cooperating with the UAV and the material bin transport device are both located on the shelf. The cleaning mechanism includes a placement rack, a conveying mechanism, a frame, a flipping drive mechanism, a flipping base, a clamping plate, and a telescopic clamping mechanism. The placement rack is mounted on the shelf. The two ends of the conveying mechanism are connected to the placement rack and the frame, respectively. The flipping drive mechanism is located on the frame. The flipping base is connected to the output end of the flipping drive mechanism. The clamping plate and the telescopic clamping mechanism are positioned opposite each other on the flipping base. This invention achieves automated storage, retrieval, and cleaning of the molds by incorporating the connecting mechanism, the UAV, the material bin transport device, and the cleaning mechanism.

Description

Technical Field

[0001] This invention relates to the technical field of storage devices, and more specifically, to an automatic storage system for radiotherapy molds. Background Technology

[0002] Radiotherapy is a crucial treatment for cancer. Due to individual differences in patient size and lesion location, one or more specialized radiotherapy molds (such as thermoplastic films or vacuum pads) are typically custom-made for each patient before treatment to maintain positioning and ensure irradiation accuracy during each session. These molds require frequent storage and transfer throughout their lifespan. Currently, most hospitals rely on manual methods for storing and managing radiotherapy molds: in storage, molds are simply placed on ordinary open shelves, their location depending on staff memory or manual registration; in retrieval, patients or staff must find the molds themselves in the storage area, and they are returned manually after treatment; in disposal, the molds must be manually removed and disposed of after the treatment cycle. This entirely manual approach is highly dependent on manpower and makes it difficult to guarantee accuracy and timeliness.

[0003] However, the aforementioned manual operation mode has revealed several problems in practical application. First, the molds can only be placed and retrieved manually, and the storage height is limited by the operator's arm span, resulting in the upper space of the shelves often being idle and wasted. High-density, three-dimensional storage cannot be achieved in the limited space of a hospital, leading to low space utilization. Second, the storage location of the molds relies entirely on manual memory or paper records. When multiple people are operating the system or the molds are moved, misplacement, difficulty in finding them, or even loss can easily occur, directly affecting the patient's normal treatment process. Third, after a treatment cycle, the molds need to be removed from the shelves one by one. This process relies entirely on manual operation. For molds stored high or deep, retrieval is extremely inconvenient, labor-intensive, and inefficient. A large number of molds that have completed treatment occupy storage space for extended periods due to a lack of timely cleaning, further exacerbating the storage space shortage. Simultaneously, manual cleaning can easily lead to the premature removal or destruction of molds still in the treatment cycle, thus delaying the patient's subsequent treatment. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of existing radiotherapy mold storage devices in terms of automated storage and retrieval capabilities, space utilization efficiency, and ease of cleaning operations, and to provide an automatic radiotherapy mold storage system that can realize automatic storage, automatic retrieval, and automatic cleaning of the molds.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: An automated storage system for radiotherapy molds is provided, comprising a shelf, a material bin, a connecting mechanism, an unmanned vehicle, a material bin transport device, and a cleaning mechanism. The material bin is stored on the shelf. The connecting mechanism for cooperating with the unmanned vehicle and the material bin transport device are both located on the shelf. The cleaning mechanism includes a placement rack, a conveying mechanism, a frame, a flipping drive mechanism, a flipping base, a clamping plate, and a telescopic clamping mechanism. The placement rack is located on the shelf. The two ends of the conveying mechanism are respectively connected to the placement rack and the frame. The flipping drive mechanism is located on the frame. The flipping base is connected to the output end of the flipping drive mechanism. The clamping plate and the telescopic clamping mechanism are arranged opposite each other on the flipping base.

[0006] The automatic storage system for radiotherapy molds of this invention involves the following steps: After a patient has customized a radiotherapy mold, the mold is placed in a storage bin. The bin, now containing the mold, is then placed on an unmanned vehicle (AWV). The WAV transports the bin to a receiving mechanism, where a transport device moves it to a shelf for storage. When the mold needs to be removed for treatment, the transport device retrieves the corresponding bin from the shelf to the receiving mechanism. The WAV transport then delivers the bin to the patient, and after treatment, returns it to the shelf. When treatment is complete, the mold reaches the end of its lifespan, or the mold has been stored for an extended period, the transport device moves the bin from the shelf to a placement rack. A conveying mechanism then moves the bin to a tilting base. A telescopic clamping mechanism and a clamping plate secure the bin to the tilting base. A tilting drive mechanism then tilts the bin, emptying the mold and cleaning the bin. After cleaning, the bin is returned to the placement rack, and the transport device places the empty bin back onto the shelf. This automatic storage system for radiotherapy molds can automatically store, retrieve, and clean the molds.

[0007] Furthermore, the telescopic clamping mechanism is located between the conveying mechanism and the clamping plate; the telescopic clamping mechanism includes a first cylinder, a slider, an L-shaped clamping arm, a first fixing pin, a positioning frame, a positioning roller, a spring pull shaft, and a return spring. The first cylinder and the positioning frame are both located at the bottom of the flip base. The slider is slidably connected to the bottom of the flip base. The slider is connected to the output end of the first cylinder. One end of the L-shaped clamping arm is rotatably connected to the slider. The first fixing pin is located at the other end of the L-shaped clamping arm. The material box is provided with a fixing hole for insertion with the first fixing pin. The positioning roller is rotatably connected to the positioning frame. The slider and the L-shaped clamping arm are both located between the positioning roller and the bottom of the flip base. The L-shaped clamping arm abuts against the positioning roller. The spring pull shaft is located on the positioning frame. The positioning roller is located between the spring pull shaft and the bottom of the flip base. The two ends of the return spring are rotatably connected to the spring pull shaft and the L-shaped clamping arm, respectively. When moving the material box from the placement rack to the tilting base, the telescopic clamping mechanism is located at the bottom of the tilting base. After the material box is moved onto the tilting base, the first cylinder is activated. The first cylinder drives the slider to slide at the bottom of the tilting base. The slider drives the L-shaped clamping arm to rotate under the constraint of the positioning roller and the return spring, rotating the L-shaped clamping arm from the bottom of the tilting base to the top of the tilting base. At the same time, the first fixing pin is inserted into the fixing hole, allowing the L-shaped clamping arm to cooperate with the clamping plate to fix the material box. Initially, the L-shaped clamping arm is located below the tilting base to avoid interference between the material box and the telescopic clamping mechanism during transportation. After the telescopic clamping mechanism is activated, it can push the material box to abut against the clamping plate, facilitating the fixation of the material box.

[0008] Furthermore, the end of the placement rack away from the conveying mechanism is provided with a first sensor for sensing the material box, and the tilting base is provided with a second sensor for sensing the material box; the frame is provided with a tilting position sensor, and the tilting base is provided with a tilting position sensing plate for cooperating with the tilting position sensor. By setting the first and second sensors, it is convenient to automatically control the conveying mechanism, the telescopic clamping mechanism, and the tilting drive mechanism according to the position of the material box; by setting the tilting position sensor and the tilting position sensing plate, it is convenient to automatically control the tilting angle.

[0009] Furthermore, the shelf includes two sets of horizontal frames, multiple sets of vertical frames, a pallet, a support plate, and dividers. Both ends of the multiple sets of vertical frames are connected to the two sets of horizontal frames respectively. Storage space exists between adjacent sets of vertical frames. The pallet is disposed on the vertical frame and has multiple slots along its longitudinal direction. The support plate engages with the slots, dividing the storage space into multiple storage compartments. The dividers are located in the middle of the support plate. The placement rack is mounted on the vertical frame. By setting the support plate, the storage space is divided into multiple storage compartments; by setting the dividers, each storage compartment is divided into two placement positions, achieving high-density storage and improving space utilization.

[0010] Furthermore, the shelf also includes disinfection lamps and an ultraviolet intensity detection mechanism, both of which are located within the storage compartments. The disinfection lamps allow for the disinfection of molds within each storage compartment; the ultraviolet intensity detection mechanism facilitates long-term maintenance of the disinfection lamps.

[0011] Furthermore, the shelving is provided in two sets, and the bin transport device is located between the two sets of shelving. The bin transport device includes a ground rail, a column, a connecting seat, a first horizontal moving mechanism for driving the column to move relative to the ground rail, a lifting mechanism for driving the connecting seat to move relative to the column, a base, a first rotating mechanism, and a gripper mechanism. The first horizontal moving mechanism is located between the ground rail and the column, the lifting mechanism is located between the column and the connecting seat, the base is horizontally mounted on the connecting seat, and the extension direction of the base forms an angle with the extension direction of the ground rail. The first rotating mechanism is located between the base and the gripper mechanism, and the gripper mechanism is offset in the horizontal plane relative to the column along the extension direction of the ground rail. By offsetting the gripper mechanism in the horizontal plane relative to the column along the extension direction of the ground rail, the gripper mechanism is located beside the column, avoiding the column from obstructing the gripper mechanism, allowing operation of the bins on both sets of shelving on both sides, thus improving space utilization.

[0012] Furthermore, the first rotating mechanism is mounted on the base, and a rotating ring is coaxially connected to the output end of the first rotating mechanism. The gripper mechanism is connected to the rotating ring, and a sensing plate is provided on the outer periphery of the rotating ring. A front-facing gripping sensor and a back-facing gripping sensor are provided on the base. When the gripper mechanism rotates to a position where its length direction is perpendicular to the extension direction of the ground rail, the sensing plate is located in the sensing area of ​​either the front-facing gripping sensor or the back-facing gripping sensor. Activating the first rotating mechanism drives the rotating ring to rotate. When the front-facing gripping sensor senses the sensing plate, the rotation stops, allowing operation of the material box located on the front shelf. When the back-facing gripping sensor senses the sensing plate, the rotation stops, allowing operation of the material box located on the back shelf.

[0013] Furthermore, the gripper mechanism includes a slide table, a second horizontal moving mechanism, a gripper assembly, a second fixing pin, and a first distance sensor, a second distance sensor, and a third distance sensor, all mounted on the gripper assembly. The first rotating mechanism is located between the base and the slide table, the second horizontal moving mechanism is located between the slide table and the gripper assembly, and the second fixing pin is located on the gripper assembly. The material box has a fixing hole for insertion with the second fixing pin. The optical axis of the first distance sensor is at the same height as the optical axis of the second distance sensor. The first distance sensor and the second distance sensor are located on opposite sides of the middle of the gripper assembly, and the optical axis of the third distance sensor is higher than that of the second distance sensor. By setting the first and second distance sensors, the left-right distance of the material box is measured for front-back compensation, and by setting the second and third distance sensors, the vertical distance of the material box is measured for vertical compensation. This facilitates the insertion of the second fixing pin into the fixing hole for stable gripping of the material box.

[0014] Furthermore, the connecting mechanism is provided with a connecting groove, the outer diameter of the material box is larger than the inner diameter of the connecting groove, and guide blocks for guiding the material box are provided on both sides of the connecting groove, with the top of the guide blocks inclined; the unmanned vehicle is provided with a lifting mechanism, the output end of which is connected to a lifting tray, the outer diameter of which is not larger than the inner diameter of the connecting groove. When the material box is placed on the connecting mechanism, the guide blocks guide the material box to be aligned. The unmanned vehicle first moves the lifting tray below the connecting groove, then activates the lifting mechanism to raise the lifting tray, allowing the material box to detach from the connecting mechanism, and then moves the unmanned vehicle out, thus enabling the transport of the material box.

[0015] Furthermore, the docking slot is equipped with a reflector and a positioning plate. The unmanned vehicle is equipped with an identification mechanism for recognizing the reflector and a positioning mechanism for recognizing the positioning plate. The lifting pallet is equipped with a fixing component and an NFC signal reader. The bottom of the material box is equipped with a fixing fitting that cooperates with the fixing component and an NFC card. By setting up the reflector, the identification mechanism of the unmanned vehicle can easily identify the position of the docking slot. By setting up the positioning plate, the positioning mechanism of the unmanned vehicle can easily position itself according to the positioning plate. By setting up the fixing component and the fixing fitting, the material box can be easily fixed on the lifting pallet. By setting up the NFC signal reader and the NFC card, the unmanned vehicle can easily identify the information of the transported material box.

[0016] Compared with the prior art, the beneficial effects of the present invention are: 1. The present invention provides an automatic storage system for radiotherapy molds, which realizes automatic storage, automatic retrieval, and automatic cleaning of molds by setting up a connecting mechanism, an unmanned vehicle, a material box transportation device, and a cleaning mechanism.

[0017] 2. The automatic storage system for radiotherapy molds of the present invention avoids interference between the material box and the telescopic clamping mechanism during transportation by initially positioning the L-shaped clamping arm below the flipping base; after the telescopic clamping mechanism is activated, the telescopic clamping mechanism can push the material box to abut the clamping plate, which facilitates fixing the material box.

[0018] 3. The automatic storage system for radiotherapy molds of the present invention divides the shelf into multiple placement positions by setting support plates and partition blocks, thereby achieving high-density storage and improving space utilization. At the same time, by setting the gripper mechanism offset in the horizontal plane relative to the column along the extension direction of the ground rail, the gripper mechanism is located on the side of the column, which enables operation of the material boxes on the two sets of shelves on both sides, further improving space utilization. Attached Figure Description

[0019] Figure 1 This is a first-view structural schematic diagram of the automatic storage system for radiotherapy molds of the present invention; Figure 2 This is a second-view structural schematic diagram of the automatic storage system for radiotherapy molds of the present invention; Figure 3 This is a structural diagram of the cleaning mechanism; Figure 4 yes Figure 1 Enlarged view of the structure at point A in the middle; Figure 5 yes Figure 3 Enlarged view of the structure at point B; Figure 6 yes Figure 3 Enlarged view of the structure at point C; Figure 7 yes Figure 3 Enlarged view of the structure at point D; Figure 8 yes Figure 2 Enlarged view of the structure at point E in the middle; Figure 9 This is a first-view structural diagram of the material box transport device; Figure 10 This is a second-view structural diagram of the hopper transport device; Figure 11 yes Figure 10 Enlarged view of the structure at point F; Figure 12 yes Figure 10 Enlarged view of the structure at point G in the middle; Figure 13 This is a schematic diagram of the gripper mechanism; Figure 14 yes Figure 13 Enlarged view of the structure at point H; Figure 15 This is a structural diagram of the material bin; Figure 16 This is a schematic diagram of the connecting mechanism; Figure 17 This is a structural diagram of an autonomous vehicle.

[0020] In the attached diagram: 100, shelf; 110, horizontal frame; 120, vertical frame; 130, pallet; 131, card slot; 140, support plate; 150, divider block; 160, disinfection lamp; 200, material bin; 210, fixing hole; 220, fixing component; 230, NFC card; 300, connecting mechanism; 310, connecting groove; 320, guide block; 330, reflector; 340, positioning plate; 400, unmanned vehicle; 410, lifting mechanism; 420, lifting pallet; 421, fixing component; 430, identification mechanism; 440, positioning plate. Positioning mechanism; 500, hopper conveying device; 510, ground rail guide rail; 520, column; 530, connecting seat; 540, first horizontal moving mechanism; 541, column connecting plate; 542, second rotating mechanism; 543, ground rail gear; 544, ground rail rack; 545, lower drive shaft; 546, coupling; 547, upper drive shaft; 548, ceiling rail gear; 549, ceiling rail rack; 550, lifting mechanism; 560, base; 570, first rotating mechanism; 571, rotating ring; 572, sensing plate; 573, front clamping transmission. 574. Sensor with back clamping; 580. Gripper mechanism; 581. Slide table; 582. Second horizontal moving mechanism; 583. Gripper assembly; 584. Second fixing pin; 585. First ranging sensor; 586. Second ranging sensor; 587. Third ranging sensor; 588. Camera; 589. QR code reader; 590. Ceiling rail; 600. Cleaning mechanism; 610. Placement rack; 611. First sensor; 620. Conveying mechanism; 621. Conveying assembly; 622. Moving mechanism; 623. Moving... Fixture; 630, Frame; 631, Flip position sensor; 640, Flip drive mechanism; 641, Second cylinder; 642, First connecting rod; 643, Second connecting rod; 650, Flip base; 651, Second sensor; 652, Flip position sensor plate; 660, Clamping plate; 670, Telescopic clamping mechanism; 671, First cylinder; 672, Slider; 673, L-shaped clamping arm; 674, First fixing pin; 675, Positioning frame; 676, Positioning roller; 677, Spring pull shaft; 678, Return spring; 680, Cleaning box. Detailed Implementation

[0021] 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 a part of the embodiments of the present invention, and not all of the embodiments. The present invention will be further described below with reference to specific embodiments. The accompanying drawings are for illustrative purposes only, representing schematic diagrams only, not actual pictures, and should not be construed as limiting this patent. To better illustrate the embodiments of the present invention, some parts in the drawings may be omitted, enlarged, or reduced, and do not represent the actual product dimensions. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0022] In the accompanying drawings of the embodiments of the present invention, the same or similar reference numerals correspond to the same or similar components. In the description of the present invention, it should be understood that if terms such as "upper," "lower," "left," and "right" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms describing positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting this patent. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances. Furthermore, if the embodiments of the present invention involve descriptions such as "first" and "second," these descriptions are only for descriptive purposes and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated.

[0023] Example 1 This embodiment is a first embodiment of an automatic storage system for radiotherapy molds, such as... Figure 1 and Figure 2 As shown, the system includes a shelf 100, a material bin 200, a connecting mechanism 300, an unmanned vehicle 400, a material bin transport device 500, and a cleaning mechanism 600. The material bin 200 is stored on the shelf 100. The connecting mechanism 300 and the material bin transport device 500, which are used to cooperate with the unmanned vehicle 400, are both located on the shelf 100.

[0024] like Figure 3 As shown, the cleaning mechanism 600 includes a placement rack 610, a conveying mechanism 620, a frame 630, a tilting drive mechanism 640, a tilting base 650, a clamping plate 660, and a telescopic clamping mechanism 670. The placement rack 610 is mounted on the shelf 100. The two ends of the conveying mechanism 620 are respectively connected to the placement rack 610 and the frame 630. Figure 5 As shown, the end of the placement rack 610 away from the conveying mechanism 620 is provided with a first sensor 611 for sensing the material bin 200. The first sensor 611 uses a sensor in the prior art capable of sensing the position of the material bin 200. Figure 3As shown, the tilting drive mechanism 640 is mounted on the frame 630, and the tilting base 650 is connected to the output end of the tilting drive mechanism 640. The tilting base 650 is equipped with a second sensor 651 for sensing the material bin 200. Specifically, the second sensor 651 can be mounted on the clamping plate 660, and can use a position detection sensor from the prior art. The clamping plate 660 and the telescopic clamping mechanism 670 are mounted opposite each other on the tilting base 650. The telescopic clamping mechanism 670 is located between the conveying mechanism 620 and the clamping plate 660. In some embodiments, the cleaning mechanism 600 may further include a cleaning box 680. When the tilting drive mechanism 640 tilts the material bin 200, the material bin 200 is positioned above the cleaning box 680, which is used to collect the molds to be cleaned. The cleaning box 680 may be equipped with casters and a pusher for easy movement.

[0025] like Figure 4 As shown, the placement rack 610 is located in a storage compartment of the shelf 100. The material box transport device 500 moves the material box 200 from the shelf 100 to the placement rack 610, which is equivalent to changing the storage compartment of the material box 200 in actual control. A leveling assembly, as used in the prior art, can be installed at the bottom of the frame 630. Multiple leveling assemblies can be provided, and each assembly can include a screw and a leveling cup. One end of the screw is threadedly connected to the bottom of the frame 630, and the other end is rotatably connected to the leveling cup. By rotating the screw, the distance between the leveling cup and the bottom of the frame 630 is adjusted, thereby leveling the frame 630.

[0026] The working principle of the automatic storage system for radiotherapy molds in this embodiment is as follows: After the patient has customized a radiotherapy mold, the mold is placed in a material box 200. The material box 200 containing the mold is then placed on an automated guided vehicle (AGV) 400. The AAV 400 transports the material box 200 to a connecting mechanism 300. A material box transport device 500 moves the material box 200 from the connecting mechanism 300 to a shelf 100 for storage. When the radiotherapy mold needs to be removed for treatment, the material box transport device 500 retrieves the corresponding material box 200 from the shelf 100 to the connecting mechanism 300. The AAV 400 transports the material box from the connecting mechanism 300 to the patient and returns it to the shelf 100 after treatment. When treatment is completed, the mold reaches the end of its service life, or the mold is stored for an extended period, the material box transport device 500 transports the material box 200 from the shelf 100 to the placement rack 610. The conveying mechanism 620 transports the material box 200 to the flipping base 650. The telescopic clamping mechanism 670 and the clamping plate 660 fix the material box 200 to the flipping base 650. The flipping drive mechanism 640 is then activated, flipping the material box 200 to empty the mold and clean it. After cleaning, the material box 200 is transported back to the placement rack 610, and the material box transport device 500 places the empty material box 200 back onto the shelf 100. This automatic radiotherapy mold storage system enables automatic mold storage, automatic retrieval, and automatic cleaning.

[0027] Specifically, the conveying mechanism 620 can use existing mechanisms capable of linearly moving the hopper 200. In some embodiments, such as Figure 3 and Figure 5As shown, the conveying mechanism 620 includes a conveying assembly 621, a moving mechanism 622, and a moving fixture 623. The conveying assembly 621 includes a conveying frame, a guide plate, and a flow strip. The two ends of the conveying frame are connected to the placement frame 610 and the machine frame 630, respectively. The guide plate is located at both ends of the conveying frame along the Y direction to guide and limit the material box 200. The flow strip is located on the top surface of the conveying frame to facilitate the support and conveying of the material box. A moving space is provided in the middle of the conveying frame for the moving fixture 623 to pass through. The flow strip is located on both sides of the moving space. The moving mechanism 622 is located in the moving space. The moving mechanism 622 includes a guide rail, a servo motor, a driving wheel, a driven wheel, a synchronous belt, and a moving block. The two ends of the guide rail are respectively mounted on the placement frame 610 and the machine frame 630. The servo motor is mounted on the placement frame 610. The driving wheel and driven wheel are rotatably connected to the two ends of the guide rail, respectively. The output end of the servo motor is connected to the driving wheel. The driving wheel and driven wheel are connected via a synchronous belt drive. The moving block is slidably connected to the guide rail and fixedly connected to the synchronous belt. The moving fixture 623 is fixedly connected to the moving block. When conveying the material box 200, the servo motor is started, driving the driving wheel to rotate. The driving wheel drives the synchronous belt, which in turn drives the moving fixture 623 to move via the moving block, thereby moving the material box. The moving fixture 623 has material box blocking blocks at both ends along the moving direction of the moving mechanism 622 to prevent the material box 200 from falling off the moving fixture 623 when moving.

[0028] The flipping drive mechanism 640 can use a flipping mechanism in the prior art, specifically a rotary motor or a mechanism using cylinders and linkages to flip the flipping base 650. In some embodiments, such as Figure 6 As shown, the tilting drive mechanism 640 includes a second cylinder 641, a first connecting rod 642, and a second connecting rod 643. The second cylinder 641 is rotatably connected to the frame 630. One end of the first connecting rod 642 is connected to the output end of the second cylinder 641, and the other end of the first connecting rod 642 is rotatably connected to one end of the second connecting rod 643. The other end of the second connecting rod 643 is rotatably connected to the frame 630. The tilting base 650 is fixedly connected to the other end of the second connecting rod 643. During tilting, the second cylinder 641 is activated, and the second cylinder 641 drives the second connecting rod 643 to rotate via the first connecting rod 642, thereby causing the tilting base 650 to tilt. The frame 630 is equipped with a tilting position sensor 631, and the tilting base 650 is equipped with a tilting position sensing plate 652 for cooperating with the tilting position sensor 631. By setting the tilting position sensor 631 and the tilting position sensing plate 652, it is convenient to automatically control the tilting angle. In this embodiment, the material box is controlled to tilt by 135 degrees.

[0029] The bottom of the tilting base 650 is provided with a clearance groove for the passage of the movable fixture 623. Two sets of telescopic clamping mechanisms 670 are provided, both mounted on the tilting base 650 and located on opposite sides of the clearance groove. The outer diameter of the clearance groove is not less than the outer diameter of the movable fixture 623, and the outer diameter of the material box 200 is greater than the outer diameter of the clearance groove. That is, when the movable fixture 623 moves into the clearance groove, the two sets of telescopic clamping mechanisms 670 are located on opposite sides of the movable fixture 623 along the Y-direction.

[0030] like Figure 7 As shown, the telescopic clamping mechanism 670 includes a first cylinder 671, a slider 672, an L-shaped clamping arm 673, a first fixing pin 674, a positioning frame 675, a positioning roller 676, a spring pull shaft 677, and a return spring 678. The first cylinder 671 and the positioning frame 675 are both located at the bottom of the flip base 650. The slider 672 is slidably connected to the bottom of the flip base 650 and is connected to the output end of the first cylinder 671. One end of the L-shaped clamping arm 673 is rotatably connected to the slider 672, and the first fixing pin 674 is located at the other end of the L-shaped clamping arm 673. The material box 200 is provided with a fixing hole 210 for insertion into the first fixing pin 674; the positioning roller 676 is rotatably connected to the positioning frame 675; the slider 672 and the L-shaped clamping arm 673 are both located between the positioning roller 676 and the bottom of the flip base 650; the L-shaped clamping arm 673 abuts against the positioning roller 676; the spring pull shaft 677 is provided on the positioning frame 675; the positioning roller 676 is located between the spring pull shaft 677 and the bottom of the flip base 650; the two ends of the return spring 678 are rotatably connected to the spring pull shaft 677 and the L-shaped clamping arm 673 respectively.

[0031] When the material box 200 is moved from the placement rack 610 to the flip base 650, the telescopic clamping mechanism 670 is located at the bottom of the flip base 650. After the material box 200 is moved to the flip base 650, the first cylinder 671 is activated. The first cylinder 671 drives the slider 672 to slide at the bottom of the flip base 650. The slider 672 drives the L-shaped clamping arm 673 to rotate under the restriction of the positioning roller 676 and the return spring 678, rotating the L-shaped clamping arm 673 from the bottom of the flip base 650 to the top of the flip base 650. At the same time, the first fixing pin 674 is inserted into the fixing hole 210, so that the L-shaped clamping arm 673 can cooperate with the clamping plate 660 to fix the material box. The L-shaped clamping arm 673 is initially located below the flip base 650 to avoid interference between the material box 200 and the telescopic clamping mechanism 670 during transportation. After the telescopic clamping mechanism 670 is activated, it can push the material box to abut the clamping plate 660 to facilitate fixing the material box 200.

[0032] Example 2 This embodiment is the second embodiment of the automatic storage system for radiotherapy molds. This embodiment is similar to the first embodiment, except that, as shown in the following... Figure 8 As shown, the shelf 100 includes two sets of horizontal frames 110, multiple sets of vertical frames 120, a pallet 130, a support plate 140, and a divider block 150. Both ends of the multiple sets of vertical frames 120 are connected to the two sets of horizontal frames 110 respectively. Storage space exists between adjacent sets of vertical frames 120. The pallet 130 is disposed on the vertical frame 120. Specifically, the pallet 130 can be a PVC pallet. Multiple slots 131 are provided longitudinally on the pallet 130. The support plate 140 engages with the slots 131, dividing the storage space into multiple storage compartments. The divider block 150 is disposed in the middle of the support plate 140. The placement rack 610 is disposed on the vertical frame 120. A leveling component, similar to those used in the prior art, can be installed at the bottom of the shelf 100 for leveling. This leveling component can be similar to the leveling component installed at the bottom of the rack 630 described above, and will not be elaborated further here. By setting the support plate 140, the storage space is divided into multiple storage compartments; by setting the partition block 150, the storage compartment is divided into two placement positions; high-density storage is achieved, and space utilization is improved.

[0033] like Figure 8 As shown, the shelf 100 also includes a disinfection lamp 160 and an ultraviolet intensity detection mechanism, both of which are located within the storage compartments. The disinfection lamp 160 allows for the disinfection of molds within each storage compartment; the ultraviolet intensity detection mechanism facilitates long-term maintenance by monitoring the disinfection lamp 160. Specifically, each storage compartment has a disinfection lamp 160 installed on both sides of the pallet 130, meaning one disinfection lamp 160 is provided for each placement position.

[0034] Example 3 This embodiment is the third embodiment of the automatic storage system for radiotherapy molds. This embodiment is similar to Embodiment 1, except that, as shown in the following... Figure 1 As shown, there are two sets of shelves 100, which are arranged symmetrically. The material box transport device 500 is located between the two sets of shelves 100.

[0035] like Figure 9As shown, the hopper transport device 500 includes a ground rail 510, a column 520, a connecting seat 530, a first horizontal moving mechanism 540 for driving the column 520 to move relative to the ground rail 510, a lifting mechanism 550 for driving the connecting seat 530 to move relative to the column 520, a base 560, a first rotating mechanism 570, and a gripper mechanism 580. The first horizontal moving mechanism 540 is located between the ground rail 510 and the column 520. The lifting mechanism 550 is located between the column 520 and the connecting seat 530. The base 560 is horizontally mounted on the connecting seat 530. The extending direction of the base 560 forms an angle with the extending direction of the ground rail 510, and this angle is not a right angle. The first rotating mechanism 570 is located between the base 560 and the gripper mechanism 580. The gripper mechanism 580 is offset in the horizontal plane relative to the column 520 along the extending direction of the ground rail 510. By offsetting the gripper mechanism 580 relative to the column 520 along the extension direction of the ground rail 510 in the horizontal plane, the gripper mechanism 580 is positioned beside the column 520, preventing the column 520 from obstructing the gripper mechanism 580. This allows operation of the material boxes 200 on both sets of shelves 100 on both sides, improving space utilization. In actual installation, the first rotating mechanism 570 can be installed at the midpoint along the Y-axis of both sets of shelves 100 on both sides, ensuring that the gripper mechanism 580 has a consistent gripping range on both shelves 100. Since the left and right shelves 100 on the same level and in the same column on both sides use the same coordinate system, the moving position and extension stroke of the gripper mechanism 580 are consistent, simplifying the control program.

[0036] like Figure 9 As shown, the material box conveying device 500 also includes a top rail guide 590, and a floating mechanism connects the top rail guide 590 and the column 520. By setting the top rail guide 590, the column 520 is prevented from tipping over, improving the verticality and stability of the conveying device during high-speed movement or heavy loads, and reducing the probability of deformation or derailment due to lateral forces. The floating mechanism reduces the occurrence of rail biting or jamming. Specifically, the floating mechanism includes a top rail connecting plate and a floating slider. The floating slider is located on the top rail connecting plate and is slidably connected to the column. The top rail connecting plate has a top rail slider that is slidably connected to the top rail guide. A floating groove is provided on the top rail connecting plate for the column to pass through, preventing interference between the column and the top rail connecting plate when it floats. When the distance between the top rail guide and the bottom rail guide changes, the column 520 slides relative to the floating slider, reducing the occurrence of rail biting or jamming.

[0037] Specifically, such as Figures 10 to 12As shown, the first horizontal moving mechanism 540 includes a column connecting plate 541, a second rotating mechanism 542, a ground rail gear 543, a ground rail rack 544, a lower drive shaft 545, a coupling 546, an upper drive shaft 547, a ceiling rail gear 548, and a ceiling rail rack 549. The column connecting plate 541 is slidably connected to the ground rail guide rail 510. The second rotating mechanism 542 and the column 520 are both mounted on the column connecting plate 541. The ground rail gear 543 is connected to the output end of the second rotating mechanism 542, and the ground rail rack 544 is mounted on the ground rail guide rail 510. On rail 510, ground rail gear 543 meshes with ground rail rack 544, lower drive shaft 545 is coaxially connected to ground rail gear 543, and lower drive shaft 545 is rotatably connected to column connecting plate 541. The two ends of coupling 546 are coaxially connected to lower drive shaft 545 and upper drive shaft 547 respectively. Upper drive shaft 547 is rotatably connected to ceiling rail connecting plate, ceiling rail gear 548 is coaxially connected to upper drive shaft 547, and ceiling rail rack 549 is mounted on ceiling rail guide rail 590, meshing with ceiling rail gear 548. By setting ground rail gear 543, ground rail rack 544, ceiling rail gear 548, and ceiling rail rack 549, the ceiling rail acts as the driven shaft of the ground rail, with both shafts moving synchronously. This provides driven power and freedom constraints to the upper part of the overall mechanism, ensuring smooth operation of the transport device along the X-axis and improving the smoothness of column 520 operation. By setting the coupling 546, the upper drive shaft 547 can float relative to the lower drive shaft 545, and the floating mechanism reduces the occurrence of rail wear or jamming.

[0038] Specifically, the second rotating mechanism 542 may include an X-axis servo motor, an X-axis reducer, a second driving wheel, a second driven wheel, and a second synchronous belt. The X-axis servo motor is mounted on the column connecting plate 541. The output end of the X-axis servo motor is connected to the second driving wheel through the X-axis reducer. Both the second driving wheel and the second driven wheel are rotatably connected to the column connecting plate 541. The second driving wheel and the second driven wheel are connected by a second synchronous belt. The second driven wheel is fixedly connected to the ground rail gear 543. When moving in the X direction, the X-axis servo motor is started. The X-axis servo motor drives the second driving wheel to rotate through the X-axis reducer. The second driving wheel drives the second driven wheel to rotate through the second synchronous belt, which in turn drives the ground rail gear 543 to rotate. Through the cooperation of the ground rail gear 543 and the ground rail rack 544, the column 520 is moved along the X direction.

[0039] like Figure 9 As shown, the lifting mechanism 550 includes a Z-axis servo motor, a lifting Z-axis gear, and a Z-axis rack. The Z-axis servo motor is mounted on the connecting seat 530, and its output end is connected to the lifting Z-axis gear via a Z-axis reducer. The Z-axis rack is mounted on the column 520, and the lifting Z-axis gear meshes with the Z-axis rack. Starting the Z-axis servo motor drives the lifting Z-axis gear to rotate, which in turn moves the connecting seat 530 along the Z-axis.

[0040] like Figure 13 and Figure 14 As shown, a first rotating mechanism 570 is mounted on a base 560. A rotating ring 571 is coaxially connected to the output end of the first rotating mechanism 570. A gripper mechanism 580 is connected to the rotating ring 571. A sensing plate 572 is provided on the outer periphery of the rotating ring 571. A front gripping sensor 573 and a back gripping sensor 574 are arranged opposite each other on the base 560. When the gripper mechanism 580 rotates to a position where its length direction is perpendicular to the extension direction of the ground rail guide 510, the sensing plate 572 is located in the sensing area of ​​either the front gripping sensor 573 or the back gripping sensor 574. The first rotating mechanism 570 uses a rotating motor. Starting the first rotating mechanism 570 drives the rotating ring 571 to rotate. When the front gripping sensor 573 senses the sensing plate 572, it stops rotating, allowing operation of the material box 200 located on the front shelf 100. When the back gripping sensor 574 senses the sensing plate 572, it stops rotating, allowing operation of the material box 200 located on the back shelf 100.

[0041] like Figure 13 As shown, the gripper mechanism 580 includes a slide table 581, a second horizontal moving mechanism 582, a gripper assembly 583, a second fixing pin 584, and a first ranging sensor 585, a second ranging sensor 586, and a third ranging sensor 587, all mounted on the gripper assembly 583. A first rotating mechanism 570 is located between the base 560 and the slide table 581, the second horizontal moving mechanism 582 is located between the slide table 581 and the gripper assembly 583, and the second fixing pin 584 is located on the gripper assembly 583. The material box 200 has a fixing hole 210 for inserting into the second fixing pin 584. The optical axis of the first ranging sensor 585 is set at the same height as the optical axis of the second ranging sensor 586. The first ranging sensor 585 and the second ranging sensor 586 are located on opposite sides of the middle part of the gripper assembly 583, respectively. The optical axis of the third ranging sensor 587 is higher than the optical axis of the second ranging sensor 586. By setting up a first ranging sensor 585 and a second ranging sensor 586, the left-right distance of the material box 200 is measured for front-back compensation. By setting up a second ranging sensor 586 and a third ranging sensor 587, the vertical distance of the material box 200 is measured for vertical compensation. This facilitates the insertion of the second fixing pin 584 into the fixing hole 210, ensuring stable clamping of the material box 200. The gripper assembly 583 may also be equipped with a camera 588 and a QR code reader 589. The camera 588 facilitates monitoring the clamped object, as well as inventory checks and troubleshooting. The QR code reader 589 allows QR codes to be affixed to the clamped object for identification, preventing clamping errors.

[0042] The second horizontal moving mechanism 582 can use existing mechanisms capable of linearly moving the gripper assembly 583, such as linear motors, cylinders, and synchronous belt mechanisms. Specifically, it may include a gripper telescopic servo motor, a first driving wheel, a first driven wheel, a first synchronous belt, and a synchronous belt clamp. The gripper telescopic servo motor is mounted on the slide table 581. The first driving wheel is connected to the output end of the gripper telescopic servo motor. The first driving wheel and the first driven wheel are rotatably connected to both ends of the slide table 581, respectively. The first driving wheel and the first driven wheel are connected via a first synchronous belt. The synchronous belt clamp is mounted on the first synchronous belt and is fixedly connected to the gripper assembly 583. During movement, the gripper telescopic servo motor is activated to drive the first driving wheel to rotate. The first driving wheel drives the first driven wheel to rotate via the first synchronous belt. The first synchronous belt drives the gripper assembly 583 to move via the synchronous belt clamp, thereby moving the gripper assembly 583 along the Y direction. A tension adjustment mechanism can be configured at the first driven wheel to adjust the tension. The tension adjustment mechanism can use conventional mechanisms from the prior art. Specifically, the tension adjustment mechanism may include an adjusting screw, a fastening screw, and an adjusting block. The first driven wheel is mounted on the adjusting block, which is slidably connected to the slide table 581. The adjusting block can be fixedly connected to the slide table 581 via the fastening screw. The adjusting screw is threadedly connected to the slide table 581 and is located between the first driving wheel and the first driven wheel, abutting against the adjusting block. By rotating the adjusting screw, the position of the adjusting block is changed, thereby changing the distance between the first driving wheel and the first driven wheel to achieve tension adjustment of the first synchronous belt. After adjustment, the fastening screw is tightened to fix the position of the adjusting block.

[0043] The gripper assembly 583 can use existing structures capable of gripping objects. Specifically, the gripper assembly 583 may include a movable base, a clamping motor, a centering gear, two sets of centering racks, and two sets of centering jaws. The movable base is slidably connected to the slide table 581. A timing belt clamp is disposed on the movable base. The clamping motor is disposed on the movable base. The centering gear is connected to the output end of the clamping motor. The two sets of centering racks are respectively disposed on both sides of the centering gear, and both sets of centering racks are meshed with the centering gear. Both sets of centering racks are slidably connected to the movable base. The two sets of centering jaws are respectively connected to the two sets of centering racks. The two sets of centering jaws are respectively located at both ends of the movable base, and both sets of centering jaws are slidably connected to the movable base. During clamping, the clamping motor is started, which drives the centering gear to rotate. The centering gear drives two sets of centering racks to move in the center, and the centering racks drive two sets of centering jaws to move in the center, thus clamping the object.

[0044] Example 4 This embodiment is the fourth embodiment of the automatic storage system for radiotherapy molds. This embodiment is similar to Embodiment 1, except that, as shown in the following... Figure 15As shown, the bottom of the material bin 200 is equipped with a fixing component 220 and an NFC card 230. Specifically, the fixing component 220 can be set as an electromagnet suction plate.

[0045] like Figure 16 As shown, the connecting mechanism 300 is provided with a connecting groove 310. The outer diameter of the material box 200 is larger than the inner diameter of the connecting groove 310. Specifically, the bottom outer diameter of the material box 200 is larger than the inner diameter of the connecting groove 310, so that the material box 200 can be placed across the connecting groove 310. Guide blocks 320 for guiding the material box 200 are provided on both sides of the connecting groove 310, and the top of the guide blocks 320 is inclined. A reflector 330 and a positioning plate 340 are provided at the connecting groove 310.

[0046] like Figure 17 As shown, the unmanned vehicle 400 is equipped with a lifting mechanism 410, the output end of which is connected to a lifting tray 420. The outer diameter of the lifting tray 420 is no greater than the inner diameter of the docking groove 310. The unmanned vehicle 400 is equipped with an identification mechanism 430 for identifying the reflector 330 and a positioning mechanism 440 for identifying the positioning plate 340. The lifting tray 420 is equipped with a fixing component 421 that cooperates with the fixing fitting 220 and an NFC signal reader. Specifically, the fixing component 421 can be an electromagnet.

[0047] When the material box 200 is placed on the connecting mechanism 300, the guide block 320 aligns the material box 200. A reflector 330 facilitates the identification mechanism 430 of the unmanned vehicle 400 to recognize the position of the connecting slot 310, and a positioning plate 340 facilitates the positioning mechanism 440 of the unmanned vehicle 400 to position itself according to the positioning plate 340. The unmanned vehicle 400 first moves the lifting pallet 420 below the connecting slot 310, then activates the lifting mechanism 410 to raise the lifting pallet 420, allowing the material box 200 to detach from the connecting mechanism 300. The unmanned vehicle 400 is then moved out, enabling the transport of the material box 200. A fixing component 421 and a fixing mating part 220 facilitate the fixing of the material box 200 onto the lifting pallet 420. An NFC signal reader and an NFC card 230 facilitate the unmanned vehicle 400 to identify the transported material box 200 information.

[0048] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0049] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. An automatic storage system for radiotherapy molds, characterized in that, The system includes a shelf (100), a bin (200), a connecting mechanism (300), an unmanned vehicle (400), a bin transport device (500), and a cleaning mechanism (600). The bins (200) are stored on the shelf (100). The connecting mechanism (300) and the bin transport device (500), which cooperate with the unmanned vehicle (400), are both located on the shelf (100). The cleaning mechanism (600) includes a placement rack (610), a conveying mechanism (620), a frame (630), a flipping drive mechanism (640), a flipping base (650), a clamping plate (660), and a telescopic clamping mechanism (670). The placement rack (610)... The conveying mechanism (620) is mounted on the shelf (100), with its two ends connected to the placement rack (610) and the frame (630) respectively. The flipping drive mechanism (640) is mounted on the frame (630), and the flipping base (650) is connected to the output end of the flipping drive mechanism (640). The clamping plate (660) and the telescopic clamping mechanism (670) are mounted opposite each other on the flipping base (650). The telescopic clamping mechanism (670) is located between the conveying mechanism (620) and the clamping plate (660). The telescopic clamping mechanism (670) includes a first cylinder (671), a slider (672), and an L-shaped clamping arm (673). 73) A first fixing pin (674), a positioning frame (675), a positioning roller (676), a spring pull shaft (677), and a return spring (678). The first cylinder (671) and the positioning frame (675) are both located at the bottom of the flip base (650). The slider (672) is slidably connected to the bottom of the flip base (650). The slider (672) is connected to the output end of the first cylinder (671). One end of the L-shaped clamping arm (673) is rotatably connected to the slider (672). The first fixing pin (674) is located at the other end of the L-shaped clamping arm (673). The material box (200) is provided with a mechanism for connecting the first fixing pin (674) to the first fixing pin (675). 4) Insertion fixing hole (210); The positioning roller (676) is rotatably connected to the positioning frame (675), the slider (672) and the L-shaped clamping arm (673) are both located between the positioning roller (676) and the bottom of the flip base (650), the L-shaped clamping arm (673) abuts against the positioning roller (676), the spring pull shaft (677) is provided on the positioning frame (675), the positioning roller (676) is located between the spring pull shaft (677) and the bottom of the flip base (650), and the two ends of the reset spring (678) are rotatably connected to the spring pull shaft (677) and the L-shaped clamping arm (673) respectively.

2. The automatic storage system for radiotherapy molds according to claim 1, characterized in that, The placement rack (610) is provided with a first sensor (611) for sensing the material box (200) at one end away from the conveying mechanism (620), and a second sensor (651) for sensing the material box (200) is provided on the flip base (650); a flip position sensor (631) is provided on the frame (630), and a flip position sensing plate (652) for cooperating with the flip position sensor (631) is provided on the flip base (650).

3. The automatic storage system for radiotherapy molds according to claim 1, characterized in that, The shelf (100) includes two sets of horizontal frames (110), multiple sets of vertical frames (120), a pallet (130), a support plate (140), and a divider (150). Both ends of the multiple sets of vertical frames (120) are respectively connected to the two sets of horizontal frames (110). There is a storage space between two adjacent sets of vertical frames (120). The pallet (130) is provided on the vertical frame (120). The pallet (130) has multiple slots (131) along the longitudinal direction. The support plate (140) engages with the slots (131). The support plate (140) divides the storage space into multiple storage compartments. The divider (150) is located in the middle of the support plate (140). The placement rack (610) is provided on the vertical frame (120).

4. The automatic storage system for radiotherapy molds according to claim 3, characterized in that, The shelf (100) also includes a disinfection lamp (160) and an ultraviolet intensity detection mechanism, both of which are located inside the storage compartment.

5. The automatic storage system for radiotherapy molds according to claim 1, characterized in that, The shelving (100) is provided in two sets, and the bin transport device (500) is located between the two sets of shelving (100); the bin transport device (500) includes a ground rail (510), a column (520), a connecting seat (530), a first horizontal moving mechanism (540) for driving the column (520) to move relative to the ground rail (510), a lifting mechanism (550) for driving the connecting seat (530) to move relative to the column (520), a base (560), a first rotating mechanism (570), and a gripper mechanism (580), wherein the first horizontal moving mechanism (540) The lifting mechanism (550) is located between the ground rail (510) and the column (520), and the base (560) is located between the column (520) and the connecting seat (530). The base (560) is horizontally located on the connecting seat (530). The extension direction of the base (560) is at an angle to the extension direction of the ground rail (510). The first rotating mechanism (570) is located between the base (560) and the gripper mechanism (580). The gripper mechanism (580) is offset in the horizontal plane relative to the column (520) along the extension direction of the ground rail (510).

6. The automatic storage system for radiotherapy molds according to claim 5, characterized in that, The first rotating mechanism (570) is mounted on the base (560). The output end of the first rotating mechanism (570) is coaxially connected to a rotating ring (571). The gripper mechanism (580) is connected to the rotating ring (571). The outer periphery of the rotating ring (571) is provided with a sensing plate (572). The base (560) is provided with a front clamping sensor (573) and a back clamping sensor (574) arranged opposite to each other. When the gripper mechanism (580) rotates to a position where its length direction is perpendicular to the extension direction of the ground rail guide (510), the sensing plate (572) is located in the sensing area of ​​the front clamping sensor (573) or the sensing area of ​​the back clamping sensor (574).

7. The automatic storage system for radiotherapy molds according to claim 5, characterized in that, The gripper mechanism (580) includes a slide (581), a second horizontal moving mechanism (582), a gripper assembly (583), a second fixing pin (584), and a first ranging sensor (585), a second ranging sensor (586), and a third ranging sensor (587) all disposed on the gripper assembly (583). The first rotating mechanism (570) is disposed between the base (560) and the slide (581), and the second horizontal moving mechanism (582) is disposed between the slide (581) and the gripper assembly (583). The second fixing pin (584) is provided on the gripper assembly (583), and the material box (200) is provided with a fixing hole (210) for inserting into the second fixing pin (584); the optical axis of the first distance sensor (585) is set at the same height as the optical axis of the second distance sensor (586), the first distance sensor (585) and the second distance sensor (586) are respectively located on both sides of the middle part of the gripper assembly (583), and the optical axis of the third distance sensor (587) is higher than the optical axis of the second distance sensor (586).

8. The automatic storage system for radiotherapy molds according to any one of claims 1 to 7, characterized in that, The connecting mechanism (300) is provided with a connecting groove (310). The outer diameter of the material box (200) is larger than the inner diameter of the connecting groove (310). The connecting groove (310) is provided with guide blocks (320) on both sides for guiding the material box (200). The top of the guide blocks (320) is inclined. The unmanned vehicle (400) is provided with a lifting mechanism (410). The output end of the lifting mechanism (410) is connected to a lifting tray (420). The outer diameter of the lifting tray (420) is not larger than the inner diameter of the connecting groove (310).

9. The automatic storage system for radiotherapy molds according to claim 8, characterized in that, The connecting slot (310) is provided with a reflector (330) and a positioning plate (340). The unmanned vehicle (400) is provided with an identification mechanism (430) for identifying the reflector (330) and a positioning mechanism (440) for identifying the positioning plate (340). The lifting tray (420) is provided with a fixing component (421) and an NFC signal reader. The bottom of the bin (200) is provided with a fixing fitting (220) that cooperates with the fixing component (421) and an NFC card (230).

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