Guiderail for underslung robot, underslung robot and operating system thereof

Abstract

Disclosed are a guiderail of an underslung robot, an underslung robot and an operating system thereof. The guiderail of an underslung robot includes: a main guiderail, suspended in the air by a support frame; and an auxiliary guiderail, communicating with the main guiderail and suspended in the air by a support frame. An intersection of the main guiderail and the auxiliary guiderail is provided with a gap through which a traveling underslung robot can pass. The guiderail further includes path indicators mounted on the main guiderail and the auxiliary guiderail. An underslung robot, comprising: wheels for bearing the underslung robot, wherein at least one of the wheels is a power wheel; and two booms, wherein the top of the booms is connected to the wheels, the bottom of the booms is connected to a frame of the underslung robot.

Claims

1. A guiderail for an underslung robot, comprising: a main guiderail, suspended in the air by a support frame; an auxiliary guiderail, communicated with the main guiderail, wherein the auxiliary guiderail is suspended in the air by the support frame; a gap, provided at a joint between the main guiderail and the auxiliary guiderail, wherein the underslung robot is configured to pass through the gap in traveling; and road sign indicators, which are respectively installed on the main guiderail and the auxiliary guiderail, wherein the road sign indicators are configured to allow the underslung robot to recognize where it is located, and each of the road sign indicators comprises: a two-dimensional code, a color block mark, a figure size mark, a figure color mark and/or a figure quantity mark, wherein the main guiderail and the auxiliary guiderail are laid in a plane, or laid in a three-dimensional space, wherein the main guiderail docks to form a first guiderail for use by the underslung robot so as to improve utilization of the guiderail.

2. The guiderail for an underslung robot according to claim 1, wherein an angle V between the main guiderail and the auxiliary guiderail is an acute angle.

3. The guiderail for an underslung robot according to claim 2, wherein the angle V is smaller than 30 degrees.

4. The guiderail for an underslung robot according to claim 1, wherein the gap is in an elongated shape, and a length direction of the gap is the same as a length direction of the auxiliary guiderail, or the length direction of the gap is the same as a length direction of the main guiderail.

5. The guiderail for an underslung robot according to claim 1, wherein the support frame has one end on which the main guiderail and the auxiliary guiderail are to be fixed, and the other end fixed on a ground or under a ceiling of a building.

6. An underslung robot, comprising: wheels, provided in a number of two, configured to carry the underslung robot, wherein at least one of the wheels is a power wheel and the power wheel is controlled by a controller of the underslung robot, and the wheels are configured to roll along the main guiderail or the auxiliary guiderail of the guiderail for an underslung robot according to claim 1; and booms, provided in a number of two, wherein a top portion of each of the booms is connected with one of the wheels, a bottom portion of each of the booms is connected with a rack of the underslung robot, at least one of the booms, driven by a power system, is rotatable relative to the rack, so as to control a traveling direction of each of the wheels, and the power system is controlled by the controller of the underslung robot, wherein when the underslung robot travels from the main guiderail to the auxiliary guiderail, or travels from the auxiliary guiderail to the main guiderail, the booms is configured to pass through the gap.

7. The underslung robot according to claim 6, further comprising: a road sign collecting sensor, installed inside the underslung robot and configured to collect information indicated by the road sign indicators, wherein the road sign collecting sensor is connected with the controller of the underslung robot, and the road sign collecting sensor comprises a camera.

8. The underslung robot according to claim 7, wherein the power system comprises: a steering motor, whose housing is fixed with the rack, wherein a rotating shaft of the steering motor is fixed with each of the booms, and the steering motor is controlled by the controller of the underslung robot.

9. The underslung robot according to claim 7, wherein the power wheel comprises: a servo motor, whose housing is fixed with each of the booms, wherein a main shaft of the servo motor is fixed with a main shaft of each of the wheels.

10. An operating system of an underslung robot, comprising the guiderail for an underslung robot according to claim 1 and the underslung robot according to claim 6, and further comprising: a server, which is in wireless communication with a plurality of underslung robots, wherein the server is configured to control the underslung robots to move forward, move backward and/or turn to make the underslung robots capable of unloading goods in a designated position.

11. The operating system of an underslung robot according to claim 10, wherein an angle V between the main guiderail and the auxiliary guiderail is an acute angle.

12. The operating system of an underslung robot according to claim 11, wherein the angle V is smaller than 30 degrees.

13. The operating system of an underslung robot according to claim 10, wherein the gap is in an elongated shape, and a length direction of the gap is the same as a length direction of the auxiliary guiderail, or the length direction of the gap is the same as a length direction of the main guiderail.

14. The operating system of an underslung robot according to claim 10, wherein the support frame has one end on which the main guiderail and the auxiliary guiderail are to be fixed, and the other end fixed on a ground or under a ceiling of a building.

15. The operating system of an underslung robot according to claim 10, wherein the underslung robot further comprises a road sign collecting sensor, installed inside the underslung robot and configured to collect information indicated by the road sign indicators, wherein the road sign collecting sensor is connected with the controller of the underslung robot, and the road sign collecting sensor comprises a camera.

16. The operating system of an underslung robot according to claim 15, wherein the power system comprises a steering motor, whose housing is fixed with the rack, wherein a rotating shaft of the steering motor is fixed with each of the booms, and the steering motor is controlled by the controller of the underslung robot.

17. The operating system of an underslung robot according to claim 15, wherein the power wheel comprises a servo motor, whose housing is fixed with each of the booms, wherein a main shaft of the servo motor is fixed with a main shaft of each of the wheels.

Description

BRIEF DESCRIPTION OF DRAWINGS

(1) FIG. 1 is an overall structural schematic diagram of the present disclosure.

(2) FIG. 2 is a structural schematic diagram predominated by an underslung robot of the present disclosure.

DETAILED DESCRIPTION OF EMBODIMENTS

(3) Now the present disclosure is further described in conjunction with accompanying drawings:

(4) As shown in the figures, a guiderail for an underslung robot includes:

(5) a main guiderail 1, suspended in the air by a support frame;

(6) an auxiliary guiderail 2, communicated with the main guiderail 1, wherein the auxiliary guiderail 2 is suspended in the air by the support frame, one end of the support frame is configured to fix the main guiderail 1 and the auxiliary guiderail 2, and the other end is fixed on the ground or under ceiling of a building.

(7) A gap 3 is provided at a joint between the main guiderail 1 and the auxiliary guiderail 2, and a traveling underslung robot can pass through the gap 3.

(8) The main guiderail 1 and the auxiliary guiderail 2 in the present embodiment are laid according to a plane, and can also be laid in a three-dimensional space as required.

(9) In FIG. 1, the main guiderail 1 can be continuously branched to form a first guiderail 22, a second guiderail 23 and a third guiderail 24, in which case, the main guiderail and the auxiliary guiderail are not strictly restricted, the second guiderail 23 is an auxiliary guiderail with respect to the main guiderail 1, but the second guiderail 23 in turn is a main guiderail with respect to the first guiderail 22 and the third guiderail 24.

(10) The main guiderail 1 can also dock to form a temporary guiderail 21, and the underslung robot can drive into the temporary guiderail 21 to give way to other underslung robots on the main guiderail 1, so as to improve the utilization ratio of the guiderail.

(11) Road sign indicators 5 are further included, each including: a bar code, a two-dimensional code, a color block mark, a figure size mark, a figure color mark and/or a figure quantity mark; the road sign indicators 5 are respectively installed on bottom surfaces of the main guiderail 1 and the auxiliary guiderail 2, and the road sign indicators 5 can be configured to allow the underslung robot to recognize where it is located.

(12) An angle V between the main guiderail 1 and the auxiliary guiderail 2 is an acute angle, and the angle V is preferably smaller than 30 degrees.

(13) The gap 3 is in an elongated shape, and a length direction of the gap 3 is the same as a length direction of the auxiliary guiderail 2, or the length direction of the gap 3 is the same as the length direction of the main guiderail 1.

(14) An underslung robot, including:

(15) wheels 41, provided in a number of two, configured to carry the underslung robot, wherein at least one wheel 41 is a power wheel controlled by a controller of the underslung robot, and the wheels 41 can roll along the main guiderail 1 or the auxiliary guiderail 2;

(16) the power wheel includes:

(17) a servo motor, wherein its housing is fixed with the booms 43, a main shaft of the servo motor is fixed with a main shaft of the wheels 41.

(18) There are two booms 43. A top portion of each boom 43 is connected with the main shaft 42 of the wheels 41, a bottom portion of each boom 43 is connected with a rack 44 of the underslung robot, and at least one boom 43, driven by a power system, is rotatable relative to the rack 44, so as to be capable of controlling a traveling direction of the wheels 41. The power system is controlled by the controller of the underslung robot; when the underslung robot is designed to be capable of moving forward and backward, there are usually two power systems controlling the two booms 43 respectively.

(19) The power system includes: a steering motor 45, whose housing is fixed with the rack 44. A rotating shaft of the steering motor 45 is fixed with the booms 43, and the steering motor 45 is controlled by a controller of the underslung robot.

(20) When the underslung robot travels from the main guiderail 1 to the auxiliary guiderail 2, or travels from the auxiliary guiderail 2 to the main guiderail 1, the booms 43 can pass through the gap 3. The booms 43 can be designed in a sheet shape.

(21) It further includes:

(22) a road sign collecting sensor, wherein a camera is chosen as the road sign collecting sensor, and it is installed on a main structure of the underslung robot, can be aligned with the road sign indicators 5 mounted on the bottom surfaces of the main guiderail 1 and the auxiliary guiderail 2 to collect information. The road sign collecting sensor is connected with the controller of the underslung robot.

(23) An operating system of an underslung robot, including the above guiderail for an underslung robot and the above underslung robot, and further including:

(24) a server, which is in wireless communication with a plurality of underslung robots, wherein the server can control the underslung robots to move forward, move backward and/or turn to make the underslung robots capable of unloading goods in a designated position.