CN113291721B - Rail guided vehicle and conveying system - Google Patents

Abstract

The present disclosure provides a rail guided vehicle and a conveyor system. The track guided vehicle comprises a vehicle body and an object holding part for holding objects conveyed by the track guided vehicle, wherein a track cavity for allowing the track to pass through is formed in the vehicle body, a driving wheel is arranged above the track cavity, the vehicle body comprises a controller, a motor driver, a motor and a reversing driving mechanism, and the controller controls the motor driver to sequentially apply driving force to the driving wheel through the motor and the reversing driving mechanism, so that the track guided vehicle runs along the track direction. The embodiment of the disclosure improves the conveying efficiency in logistics conveying and realizes flexible control on object conveying.

Description

Rail guided vehicle and conveying system

Technical Field

The present disclosure relates to the field of logistics transportation devices, and more particularly to a rail guided vehicle and a transportation system.

Background

At present, logistics enterprises mainly adopt hanging chains as main tools for conveying and sorting cargoes. The suspension chain is a chain employing ball bearings as the chain sprocket, which is suspended at a high place, under which the goods to be sorted are suspended. The ball bearings on the chain continuously rotate, so that the chain can always drive along the conveying direction, and the aim of conveying goods is fulfilled. The suspension chain can turn and climb at will, and can adapt to various geographic environment conditions. The general flow of conveying and sorting of the hanging chain is that after the picking personnel obtain the picking task, the picking personnel perform picking operation according to the commodity list, the shopping bags after picking are hung on a lifting machine below the hanging chain, after lifting, the shopping bags are conveyed to a rear yard by the hanging chain, and are converged at the same road junction according to batches. After all shopping bags of the same batch are aligned, packing personnel start packing, and the packed distribution boxes are delivered to the distribution personnel for distribution.

Because the whole suspension chain is driven by one motor, the conveying speed is low, the conveying speed of each cargo can not be flexibly controlled, the maintenance is complex, and the customer experience is poor. It is desirable to be able to increase the conveying speed and sorting efficiency, and to increase scheduling flexibility.

Disclosure of Invention

In view of this, the present disclosure aims to improve conveying efficiency in logistics conveying and to achieve flexible control of article conveying.

According to one aspect of the disclosure, there is provided a rail guided vehicle, including a vehicle body and an article holding portion for holding articles conveyed by the rail guided vehicle, a rail cavity for passing through the rail is provided in the vehicle body, a driving wheel is provided above the rail cavity, the vehicle body includes a controller, a motor driver, a motor, and a reversing driving mechanism, and the controller controls the motor driver to sequentially apply driving force to the driving wheel through the motor and the reversing driving mechanism, so that the rail guided vehicle runs along the rail direction.

Optionally, the article holding portion includes a hanging portion located at a lower portion of the vehicle body.

Optionally, the article holding portion includes a loading portion located at an upper portion of the vehicle body.

Optionally, the reversing driving structure comprises a driving sprocket, a driven sprocket and a bevel gear set which are meshed in sequence, the driving sprocket is installed on the motor, the bevel gear set is installed on the driving wheel, and the motor drives the driving sprocket, the driven sprocket and the bevel gear set to rotate in sequence, so that the driving wheel rotates, and the rail guided vehicle runs along the rail direction.

Optionally, a guide wheel having an axis perpendicular to the axis of the drive wheel is further provided above the track chamber for holding the track in a direction perpendicular to the axis of the drive wheel when the track enters the track chamber.

Optionally, the lower surface of the track cavity is provided with a pulley having an axis coincident with the axis of the drive wheel for contacting the lower portion of the track as it enters the track cavity.

Optionally, the driving wheel has four, and corresponding install the helical gear group on the driving wheel has four, the motor, drive sprocket, driven sprocket respectively has 2, and wherein, a motor control corresponds a drive sprocket, a driven sprocket that corresponds drives two helical gear groups that correspond and rotate.

Optionally, an opposite extension rod is arranged above the driving wheel of the vehicle body, and a positioning signal emitter and a positioning signal sensor are respectively arranged on opposite surfaces of the extension rod.

Optionally, a code scanner is arranged on the side wall of the vehicle body parallel to the track and is used for scanning codes on the code bars extending out of the track to obtain positioning information represented by the codes.

Optionally, an obstacle sensor is provided on a front wall of the vehicle body in the track traveling direction for detecting an obstacle in front of the vehicle body.

Optionally, the vehicle body includes a power supply for supplying power to the controller, the motor driver and the motor.

Optionally, a charging contact is arranged above the vehicle body, and the charging contact is electrically connected to the power supply and is used for contacting with a charging post hung by a charging post extending out of the track so as to supply power to the power supply.

Optionally, the hanging portion is a telescopic hook controlled by the controller to extend to mount the article and shorten to lift the article.

Optionally, the power source comprises a lithium battery or a super capacitor.

Optionally, the code comprises a two-dimensional code or a bar code.

Optionally, the track comprises at least one of an i-track, an H-track, a T-track, a U-track.

Optionally, the positioning signal emitter comprises an infrared positioning signal emitter, and the positioning signal sensor comprises an infrared positioning signal sensor.

According to an aspect of the present disclosure, there is provided a conveying system comprising a rail guide car as described above, and the rail, wherein the rail guide car holds the articles for conveying along the rail.

In this disclosed embodiment, be different from prior art's whole transfer chain by unified power supply and drive, it changes the mode of installing different track guided vehicles on the track into, independently supply power and drive in every track guided vehicle, drive the drive wheel by the controller through motor driver, motor, switching-over actuating mechanism and travel on the track, like this, every track guided vehicle is independent power supply and independent drive respectively, its transfer rate is faster than prior art's unified power supply and drive, and each track guided vehicle inside can control alone, more nimble, customer experience is better.

Drawings

The above and other objects, features and advantages of the present disclosure will become more apparent by describing embodiments thereof with reference to the following drawings in which:

fig. 1 illustrates a front view of a rail guided vehicle according to one embodiment of the present disclosure.

Fig. 2 illustrates a side view of a rail guided vehicle according to one embodiment of the present disclosure.

Fig. 3 illustrates a top view of a rail guided vehicle according to one embodiment of the present disclosure.

Fig. 4 illustrates a side view of a suspended conveyor system after a rail guided vehicle is mounted on a rail in accordance with one embodiment of the present disclosure.

Fig. 5 illustrates a cross-sectional view of a rail guided vehicle according to one embodiment of the present disclosure, wherein a transmission is shown.

Detailed Description

The present disclosure is described below based on embodiments, but the present disclosure is not limited to only these embodiments. In the following detailed description of the present disclosure, certain specific details are set forth in detail. The present disclosure may be fully understood by one skilled in the art without a description of these details. Well-known methods, procedures, and flows have not been described in detail so as not to obscure the nature of the disclosure. The figures are not necessarily drawn to scale.

At present, logistics enterprises mainly adopt hanging chains as main tools for conveying and sorting cargoes. The suspension chain adopts the ball bearing as the chain traveling wheel, hangs in the eminence, and the ball bearing on it rotates constantly for this chain can advance along the direction of delivery always, reaches the purpose of conveying its goods that hangs. When the hanging chain is used for conveying goods, a goods picking person performs goods picking operation according to a goods list after obtaining goods picking tasks, the shopping bags after goods picking are hung on a lifter below the hanging chain, and the shopping bags are conveyed to a rear yard by the hanging chain after lifting and are converged at the same road junction according to batches. After all shopping bags of the same batch are aligned, packing personnel start packing, and the packed distribution boxes are delivered to the distribution personnel for distribution. Because the whole suspension chain is driven by one motor, the conveying speed is low, the conveying speed of each cargo can not be flexibly controlled, the maintenance is complex, and the customer experience is poor.

According to the embodiment of the disclosure, a traditional integral management and control chain mode is replaced by a rail guide vehicle and a rail matched mode, different rail guide vehicles are installed on each rail, each rail guide vehicle can suspend different cargoes, independent power supply and driving are carried out in each rail guide vehicle, a controller drives a driving wheel to run on the rail through a motor driver, a motor and a reversing driving mechanism, namely, each rail guide vehicle is independently powered and independently driven, so that the conveying speed of the rail guide vehicle is faster than that of the unified power supply and driving in the prior art, the inside of each rail guide vehicle can be independently controlled, the rail guide vehicle is more flexible, dynamic capacity expansion is facilitated, sorting efficiency is improved, and customer experience is better.

As shown in fig. 1-3, a rail guided vehicle according to one embodiment of the present disclosure may include a vehicle body 20 and a suspension portion 11 under the vehicle body 20 to suspend an object conveyed by the rail guided vehicle. The article is the goods to be transported. At different locations on the track 16, with different track guides, there is a hanging portion 11 below, and the handler hanging articles onto the hanging portion 11, thereby allowing a unified batch of such articles to be transported to the same crossing for packing. The hanging of the article is only required to be carried out on the hanging portion 11.

In fig. 1-2, the suspension portion 11 may be a telescopic hook. The telescopic hook is controlled by the controller 12 to extend to mount the article and shorten to lift the article. When a cargo handling worker in a certain rail guided vehicle has a need of transporting cargo, the cargo handling worker can send a cargo transporting request to a general server (not shown) through a special Application (APP) or a special terminal of a mobile phone, the general server receives the request, and obtains a terminal identifier of the cargo handling worker, so as to obtain the identifier of the rail guided vehicle bound by the terminal, and sends a control signal to a controller 12 of the rail guided vehicle through a bus, and the controller 12 controls the telescopic hook to extend, so that the cargo handling worker can mount the object to be transported, and then shortens to lift and transport the cargo. Although in fig. 1-2, the suspension portion 11 is a telescopic hanger, it will be understood by those skilled in the art that it may take other forms such as a lifting platform, a cargo pallet, a crane, a magnetic attraction device, etc.

The suspension portion 11 is placed at the lower portion of the vehicle body 20 in order to make the vehicle body 20 house the controller 12, the motor driver 14, the motor 6, the reversing drive mechanism 5,8,13,17,18, and the like in a concentrated manner, and the structure is more compact, and the equipment volume is reduced. The goods are transported in a package hanging mode, and the goods are loaded more efficiently.

In another embodiment, instead of the suspension 11 for suspending the articles transported by the rail guide car, a loading unit (not shown), such as an empty loading carriage, may be provided at the upper part of the car body 20. This embodiment may be used for ground transportation within a warehouse. The goods to be transported are directly placed in the loading part, such as a loading carriage, and then in each rail guide car, the controller 12 drives the driving wheel 1 to run on the rail through the motor driver 14, the motor 6 and the reversing driving mechanism 5,8,13,17,18, so that the purpose of transporting the goods is achieved. This embodiment is different from suspended transportation, and uses loading carriages, which is suitable for the ground transportation scene of warehouse.

In addition to the suspension portion 11 and the loading portion, those skilled in the art may also conceive other object holding portions for holding the objects conveyed by the guided rail vehicle, which will not be described in detail.

As shown in fig. 1-3, a track cavity 19 for passing the track 16 is arranged inside the vehicle body 20, and a driving wheel 1 is arranged above the track cavity 19. Thus, after the rail 16 has been inserted into the rail cavity 19, the driving wheel 1 is just resting on the rail cavity 19. If a driving force is applied thereto, the rail guide car can be caused to travel in the direction of the rail 16. Instead of having the track 16 positioned below the body 20, the track 16 is inserted into the track cavity 19 within the body 20 to make room for the underlying suspension 11.

As shown in fig. 5, the vehicle body 20 includes a controller 12, a motor driver 14, a motor 6, and a reversing drive mechanism 5,8,13,17,18, and the controller 12 controls the motor driver 14 to apply a driving force to the driving wheel 1 sequentially via the motor 6 and the reversing drive mechanism 5,8,13,7,18, so that the guided vehicle travels along the track 16. The components are placed below the track 16 in the vehicle body 20, so that the excessive weight above the components can be avoided, the friction force of the track can be prevented from affecting the speed too much, and the components such as the controller 12 and the motor 6 can be effectively protected.

The motor 6 is a device that provides kinetic energy required to drive the rotation of the drive wheel 1. In one embodiment, the motor 6 is a servo motor. The servo motor is an engine for controlling mechanical elements to run in a servo system, and is an indirect speed change device for a supplementary motor. The servo motor can control the speed, the position accuracy is very accurate, and the voltage signal can be converted into the torque and the rotating speed to drive the control object.

The motor 6 itself requires driving of the motor driver 14, and thus the motor driver 14 is required. The controller 12 controls the motor driver 14, and the motor driver 14 drives the motor 6 to operate. However, the motor 6 is installed under the rail 16 to provide only an upward driving force, and a horizontal driving force is required to drive the driving wheel 1, so that the reversing driving structure 5,8,13,17,18 is used. The reversing drive structure 5,8,13,17,18 includes drive sprockets 8,13, driven sprocket 5, and helical gear sets 17,18 that are sequentially meshed. The drive sprockets 8,13 are mounted on the motor 6. When the motor 6 is operated, the drive sprockets 8,13 are driven to rotate. Since the driven sprocket 5 is engaged with the driving sprockets 8,13, the driven sprocket 5 is driven. The bevel gear sets 17,18 are engaged with the driven link 5 so that the bevel gear sets 17,18 are driven. The bevel gear sets 17,18 are mounted on the driving wheel 1 so as to drive the driving wheel 1 to rotate, so that the rail guided vehicle runs along the rail 16. This embodiment, through the above-described transmission structure, skillfully converts the driving force in the vertical direction into the driving force in the horizontal direction, avoiding the volume being large in the horizontal direction of the rail 16 by the motor 6. The combined transmission scheme of chain wheels and inclined gear sets is adopted to greatly compress the occupied space of the whole vehicle transmission mechanism.

Further, as shown in fig. 1 and 3, a guide wheel 2 having an axis perpendicular to the axis of the drive wheel 1 is provided above the track chamber 19 for holding the track 16 in a direction perpendicular to the axis of the drive wheel 1 when the track 16 enters the track chamber 19. Since the axis of the guide wheel 2 is perpendicular to the axis of the drive wheel 1, the rim of the guide wheel 2 is just against the inner side wall of the track 16, so that the track 16 is held, and the drive wheel 1 can just run on the upper surface of the track 16. The guide wheel 2 functions to make the rail 16 less likely to deviate from the normal position.

In addition, as shown in fig. 1, a pulley 7 having an axis coincident with the axis of the driving wheel 1 for contacting the lower portion of the rail 16 when the rail 16 enters the rail chamber 19 may be provided at the lower surface of the rail chamber 19. After the track 16 has entered the track cavity 19, the rim of the drive wheel 1 abuts against the upper surface of the track 16. If the lower surface of the rail 16 directly contacts the lower surface of the rail cavity 19, the generated sliding friction force is large. If a gap is left between the lower surface of the rail 16 and the lower surface of the rail cavity 19, the rail is easily unstable and inclined, so that the pulley 7 is arranged between the lower surface of the rail 16 and the lower surface of the rail cavity 19, sliding friction is changed into rolling friction, and friction force during running is reduced.

The driving wheel 1 has four, the corresponding bevel gear groups 17,18 installed on the driving wheel 1 have four, and the motor 6, the driving chain wheels 8,13 and the driven chain wheel 5 have 2 respectively. For example, one motor 6 may be provided before and after the traveling direction. The front motor 6 controls the front driving chain wheels 8 and 13 and the front driven chain wheel 5 to drive the front left and right bevel gear groups 17 and 18 to rotate and drive the front left and right driving wheels 1 to rotate. The rear motor 6 controls the rear driving chain wheels 8 and 13 and the rear driven chain wheel 5 to drive the rear left and right bevel gear groups 17 and 18 to rotate and drive the rear left and right driving wheels 1 to rotate. The two-motor four-wheel drive structure improves the driving power and improves the cargo conveying efficiency. The fastest speed can reach 2.5m/s, and the device is suitable for a high-speed conveying system.

In addition, in order to achieve the rail guide car positioning, i.e., to enable the overall server to acquire the position of the rail guide car, as shown in fig. 1 and 3, an opposite extension bar 21 may be provided above the driving wheel 1 of the vehicle body 20, and a positioning signal emitter 31 and a positioning signal sensor 32 may be provided on opposite surfaces of the extension bar 21, respectively. The positioning signal transmitter 31 transmits a positioning signal to the positioning information sensor 32, and the positioning signal sensor 32 is located right opposite to the positioning information sensor 32 during normal running, so that the positioning signal transmitted by the positioning information sensor 32 can be sensed. However, a positioning rod is arranged on the track at intervals of a fixed distance, and when the driving wheel 1 runs to the position, the positioning rod is just blocked between the positioning signal emitter 31 and the positioning signal sensor 32, and the positioning signal of the positioning signal sensor 32 is emitted from the positioning signal emitter 31, so that the positioning signal is not sensed, and the track guided vehicle is sensed to run to the fixed distance.

In one embodiment, the positioning signal may be infrared, in which case the positioning signal emitter 31 is an infrared positioning signal emitter and the positioning signal sensor 32 is an infrared positioning signal sensor. In another embodiment, the positioning signal may be a laser, where the positioning signal emitter 31 is a laser emitter and the positioning signal sensor 32 is a laser sensor. Other forms of positioning signals may also be envisaged by the person skilled in the art.

The positioning signal transmitter 31 and the positioning signal sensor 32 can detect only that the guided vehicle is traveling at a fixed distance, but it is difficult to detect which specific position is being traveled. For example, a positioning rod is arranged on the track every 5 meters, if a positioning signal is detected to be blocked, the track guiding vehicle is driven to a position 0, 5, 10 and 15 … … meters away from the starting point, but the position is 0 meters, 5 meters or 10 meters … …, or cannot be known. Therefore, it is possible to distinguish traveling to different positions by setting different codes at every fixed distance and scanning the codes by the code scanner. In this embodiment, a code scanner 15 is provided on a side wall (e.g., a vehicle body wall on the left or right in the traveling direction) of the vehicle body 20 parallel to the rail 16 for scanning a code on a code bar extending from the rail 16 to obtain positioning information represented by the code. The codes on the code bars arranged at fixed intervals are different, so that the position to which the vehicle can run can be distinguished. The code may be a two-dimensional code, a bar code, or other identification code known to those skilled in the art or that may occur in the future.

The disclosed embodiments adopt a combined positioning scheme of a positioning signal emitter 31 and a positioning signal sensor 32, plus a code scanner, to achieve highly reliable motion control and accurate positioning.

In addition, as shown in fig. 1 and 3, an obstacle sensor 10 may be provided on a front wall of the vehicle body 20 in the traveling direction of the track 16 for detecting an obstacle in front of the vehicle body 20. The obstacle sensor 10 may take the form of a laser sensor, the obstacle sensor 10 itself emitting laser light, the laser light being reflected back against the obstacle and being detected by the obstacle sensor 10. If an obstacle is detected, it is indicated that there are other rail guided vehicles in front, which should be decelerated or stopped in time. Since in the embodiment of the disclosure, a plurality of rail guided vehicles may run on the same rail 16, and each rail guided vehicle is controlled to run by a respective controller and motor, the speed of each rail guided vehicle may be different, and when the speed of one rail guided vehicle is too high, a situation that the rail guided vehicle collides with the front rail guided vehicle may occur, so that the obstacle sensor 10 needs to detect a dangerous situation in time, thereby improving safety.

The vehicle body 20 may include a power supply 9 for supplying power to the controller 12, the motor driver 14, and the motor 6. Because the controller 12, the motor driver 14 and the motor 6 all need the power supply 9 to operate, the embodiment of the disclosure does not adopt a rail power supply mode, but places the power supply 9 in the vehicle body 20, and the defects of low rail power supply safety, complex rail design and high production and installation cost are overcome.

In one embodiment, the power supply 9 may be a lithium battery. The lithium battery is adopted for power supply, potential risks of track electrification can be avoided, and safety is guaranteed. However, the lithium battery has a slow charging speed and a long charging time. In high load operation, if many rail guided vehicles need to be charged, the scheduling efficiency of the whole system will be affected, so in another embodiment, the power supply 9 may use super capacitors. By utilizing the characteristic of quick charging of the super capacitor, the charging speed can be improved, and the super capacitor has more advantages in high-load working scenes.

In one embodiment, as shown in fig. 1-2, a charging contact 4 is disposed above the vehicle body 20, and the charging contact 4 is electrically connected to the power supply 9 for contacting a charging post suspended by a charging post (not shown) extending from the rail 16, so as to supply power to the power supply 9. The track 16 may be provided with a charging stake at a distance. The charging pile can be T-shaped or Z-shaped, and comprises a pile part at the lower part and a horizontal rod perpendicular to the pile part, wherein a charging column can vertically extend out of the lower part of the horizontal rod, the charging column is in contact with a charging contact, and the rail guided vehicle stops to realize charging with a power supply 9. As described above, the controller 12 is connected to the power supply 9, monitors the remaining power of the power supply 9, and when the remaining power of the power supply 9 is less than the predetermined power threshold, the controller 12 sends a charging request to the total server, the total server determines the position of the next charging pile closest to the rail guiding vehicle, determines the time for the rail guiding vehicle to reach the next charging pile according to the position of the next charging pile, the current position of the rail guiding vehicle reported in the charging request, and the current speed of the rail guiding vehicle, and controls the charging pile to hang down the charging column at the determined time. When the residual electric quantity of the power supply 9 meets the requirement, the controller 12 sends a charging end request to the total server, and the total server controls the charging pile to retract the charging column. The rail guided vehicle continues to travel. Through the embodiment, the automatic charging of the rail guide car in the driving process is realized.

The track 16 may be an i-rail. The I-shaped rail is a rail with a structural appearance like an I. The simple I-shaped rail is adopted as the running rail, so that the occupied space of the rail is greatly compressed, and the device is suitable for a scene with narrow space. The track 16 may also be an H-track, a T-track, a U-track, or the like. An H-shaped track is a track with a structural appearance like "H". A T-shaped track is a track that looks like a "T" in its structural appearance. A U-shaped track is a track that looks like a "U" in its structural appearance.

The general flow of sorting of the conveying system according to the embodiment of the present disclosure is that after a sorting person obtains a sorting task, the sorting person performs a sorting operation according to a commodity list, a sorted shopping bag is hung on the hanging part 11 of the rail guide car, the hanging part 11 lifts the shopping bag, or the sorting person puts the shopping bag into the loading part. The rail guided vehicles travel on the rails 16, transport the shopping bags to the back yard, and merge into the same crossing in batches. After all shopping bags of the same batch are aligned, packing personnel start packing, and the packed distribution boxes are delivered to the distribution personnel for distribution. The whole conveying line is powered and driven by a unified power supply, different rail guide vehicles are installed on the rail instead, independent power supply and driving are carried out in each rail guide vehicle, the controller drives the driving wheels to run on the rail through the motor driver, the motor and the reversing driving mechanism, the conveying speed is improved, the speed of each rail guide vehicle can be independently controlled, and the flexibility is high.

It will be appreciated that the above descriptions are of preferred embodiments of the present disclosure, and are not intended to limit the scope of the invention, as many variations of the embodiments of the present disclosure exist to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

It should be understood that each embodiment in this specification is described in an incremental manner, and the same or similar parts between each embodiment are all referred to each other, and each embodiment focuses on differences from other embodiments.

It should be understood that the foregoing describes specific embodiments of this specification. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

It should be understood that elements described herein in the singular or shown in the drawings are not intended to limit the number of elements to one. Furthermore, modules or elements described or illustrated herein as separate may be combined into a single module or element, and modules or elements described or illustrated herein as a single may be split into multiple modules or elements.

It is also to be understood that the phraseology and terminology employed herein are for the purpose of description and should not be regarded as limiting. The use of these terms and expressions is not meant to exclude any equivalents of the features shown and described (or portions thereof), and it is recognized that various modifications are possible and are intended to be included within the scope of the claims. Other modifications, variations, and alternatives are also possible. Accordingly, the claims should be looked to in order to cover all such equivalents.

Claims (14)

1. The track guided vehicle comprises a vehicle body and an object holding part for holding objects conveyed by the track guided vehicle, wherein a track cavity for allowing the track to pass through is formed in the vehicle body, a driving wheel is arranged above the track cavity, the vehicle body comprises a controller, a motor driver, a motor and a reversing driving mechanism, and the controller controls the motor driver to apply driving force to the driving wheel sequentially through the motor and the reversing driving mechanism so that the track guided vehicle runs along the track direction;

wherein the reversing driving structure comprises a driving sprocket, a driven sprocket and a bevel gear set which are meshed in sequence, the driving sprocket is arranged on the motor, the bevel gear set is arranged on the driving wheel,

the motor drives the driving sprocket, the driven sprocket and the bevel gear set to rotate in sequence, so that the driving wheel rotates to drive the track guided vehicle to run along the track direction;

the guide wheel is arranged above the track cavity, the axis of the guide wheel is perpendicular to the axis of the driving wheel, and the guide wheel is used for keeping the track in the direction perpendicular to the axis of the driving wheel when the track enters the track cavity;

the lower surface of the track cavity is provided with a pulley with an axis consistent with the axis of the driving wheel and used for contacting the lower part of the track when the track enters the track cavity;

the driving wheels are four, the corresponding bevel gear groups arranged on the driving wheels are four, the number of the motors, the driving chain wheels and the driven chain wheels is 2, and one motor controls the corresponding driving chain wheel and the corresponding driven chain wheel to drive the corresponding two bevel gear groups to rotate.

2. The rail guide car of claim 1, wherein the article holding portion includes a hanging portion located at a lower portion of the car body.

3. The rail guide car of claim 1, wherein the article holding portion includes a loading portion located at an upper portion of the car body.

4. The rail guide car of claim 1, wherein opposing extension bars are provided above the drive wheels of the car body, and positioning signal transmitters and positioning signal sensors are provided on opposing surfaces of the extension bars, respectively.

5. The rail guide car of claim 1, wherein a code scanner is provided on a side wall of the car body parallel to the rail for scanning a code on a code bar extending from the rail to obtain positioning information represented by the code.

6. The rail guide car according to claim 1, wherein an obstacle sensor for detecting an obstacle ahead of the car body is provided at a front wall of the car body in the track traveling direction.

7. The rail guide car of claim 1, wherein the car body includes a power source therein for powering the controller, the motor drive, and the motor.

8. The rail guide car of claim 7, wherein a charging contact is provided above the car body, the charging contact being electrically connected to the power source for contacting a charging post depending from a charging post extending from the rail to power the power source.

9. The rail guide car of claim 2, wherein the suspension portion is a retractable hook controlled by the controller to lengthen to mount the article and shorten to lift the article.

10. The guided railway vehicle of claim 7, wherein the power source comprises a lithium battery or a super capacitor.

11. The rail guide car of claim 5, wherein the code comprises a two-dimensional code or a bar code.

12. The rail guide car of claim 1, wherein the rail comprises at least one of an i-rail, an H-rail, a T-rail, a U-rail.

13. The rail guide car of claim 4, wherein the positioning signal transmitter comprises an infrared positioning signal transmitter and the positioning signal sensor comprises an infrared positioning signal sensor.

14. A conveying system comprising a rail guide car according to any one of claims 1-13 and the rail, wherein the rail guide car holds the articles for conveyance along the rail.