CN216190457U

CN216190457U - Logistics shuttle robot and cableway system

Info

Publication number: CN216190457U
Application number: CN202122578225.3U
Authority: CN
Inventors: 马亚胜; 李锦超; 李业德
Original assignee: Guangdong Tap Intelligent Technology Co ltd
Current assignee: Guangdong Tap Intelligent Technology Co ltd
Priority date: 2021-10-25
Filing date: 2021-10-25
Publication date: 2022-04-05
Anticipated expiration: 2031-10-25

Abstract

The utility model discloses a logistics shuttle robot, which comprises a walking driving mechanism, a connecting frame, a control device and a logistics box, wherein a hanging hoisting mechanism is arranged on the control device, and comprises a hanging rod, a traction rope, a winding and unwinding assembly and a clamping assembly, wherein the hanging rod is hung on the logistics box; the clamping assembly comprises a clamping block, a locking piece, an in-place detector and a controller; when the hanging rod is clamped by the clamping block and needs to be unlocked, the winding and unwinding assembly drives the hanging rod to ascend and drives the clamping block to be opened outwards/inwards until the clamping block is locked by the locking piece, and at the moment, the hanging rod can descend; when the hanging rod needs to be clamped by the clamping block, the hanging rod is reset to the position above the clamping block and detected by the in-place detector, the controller controls the locking piece to unlock, and the clamping block is retracted outwards/inwards to clamp the hanging rod. From this, through setting up the chucking subassembly, after the thing flow box rose and targetting in place, its fixture block inwards/retrieve outward and block the peg to realize that the chucking of thing flow box is fixed, effectively prevent coming off of thing flow box.

Description

Logistics shuttle robot and cableway system

Technical Field

The utility model relates to the technical field of logistics transportation, in particular to a logistics shuttle robot and a cableway system.

Background

At present, with the rapid development of the logistics industry, the logistics transportation mode of erecting tracks or cableways in a low altitude is more time-saving and labor-saving compared with the traditional logistics; the logistics shuttle robot is a main carrier of rail type or cableway type logistics, and the logistics shuttle robot is fixed on a cableway to operate, the cableway is generally arranged at a higher position and can not be touched by a normal person, so that the logistics box can only load and unload goods on a professional logistics base station, and the application scene of loading and unloading the goods along with stopping can not be met.

Therefore, a hanging winding mechanism is arranged on the logistics shuttle robot by some merchants, and the hanging winding mechanism comprises a hook connected with the logistics box, a traction rope connected with the hook and a winding and unwinding assembly for driving the traction rope to wind or release. Therefore, the length of the traction rope is adjusted through the winding and unwinding assembly, the logistics box can be conveniently lifted or put down, and therefore the logistics box can be conveniently mounted and dismounted.

However, the existing hanging hoisting mechanism still has the following problems in the movement process: firstly, in the process of lifting the logistics box, the winding mechanism cannot automatically detect the condition that the traction rope is wound and unwound in place, so that the winding and unwinding transition can be caused, and the traction rope is damaged; secondly, traditional hoist mechanism that hangs utilizes the haulage rope to hang the transportation, and the long-term atress of haulage rope, vibration, bending, the wrench movement of transportation can lead to the haulage rope to damage, and such hanging transportation mode has the haulage rope to receive the force for a long time and has the potential safety hazard that the rope splits and falls.

Therefore, technical problems to be solved urgently by those skilled in the art are how to provide a logistics shuttle robot which can conveniently load and unload a logistics box and has high safety.

SUMMERY OF THE UTILITY MODEL

In order to overcome the defects in the prior art, the logistics shuttle robot and the cableway system provided by the utility model have the advantages that the clamping assembly is arranged, the logistics box can be clamped and fixed when being lifted, the weight of an object is supported, the traction rope is not directly stressed, the risk that the traction rope breaks the logistics box and the logistics box shakes violently is effectively prevented, and the work is safer.

The technical scheme adopted by the utility model for solving the problems is as follows:

the utility model provides a commodity circulation shuttle robot, includes walking drive mechanism, link, controlling means and commodity circulation case, the link respectively with walking drive mechanism and controlling means connects, controlling means is last to be equipped with the drive the commodity circulation case rises or the hoist mechanism that hangs that descends, wherein:

the hanging hoisting mechanism comprises a hanging rod hung on the logistics box, a traction rope connected with the hanging rod, a winding and unwinding assembly driving the traction rope to wind or release and a clamping assembly used for clamping the hanging rod;

the clamping assembly comprises a clamping block for clamping the hanging rod, a locking piece for locking the clamping block, an in-place detector and a controller; the controller is electrically connected with the locking piece and the in-place detector respectively;

when the hanging rod is clamped by the clamping block and needs to be unlocked, the winding and unwinding assembly drives the hanging rod to ascend and drives the clamping block to be opened outwards/inwards until the clamping block is locked by the locking piece, and at the moment, the hanging rod can descend;

when the hanging rod needs to be clamped by the clamping block, the hanging rod resets to the bottom of the winding and unwinding assembly and is detected by the in-place detector in place, the in-place detector sends in-place signals to the controller, the controller controls the locking member to be unlocked, and the clamping block is inwards/outwards recycled and clamped.

According to the logistics shuttle robot, the clamping assembly is arranged, and after the logistics box ascends in place, the clamping block is inwards/outwards recycled and clamps the hanging rod, so that the weight of a bearing object is supported, the traction rope is not directly stressed, the risks of falling of the logistics box and violent shaking of the logistics box due to fracture of the traction rope are effectively prevented, and the work is safer.

Furthermore, a clamping groove into which the end part of the hanging rod can extend is formed in the clamping block, a first guide inclined plane is formed in the end part of the hanging rod, and when the hanging rod ascends, the first guide inclined plane can be driven to abut against the clamping groove, so that the clamping block is driven to slide along the first guide inclined plane to be opened outwards/inwards; or, a clamping groove for the end part of the hanging rod to extend into is arranged on the clamping block, and when the hanging rod ascends, the controller controls the clamping block to be opened outwards/inwards.

Furthermore, the locking piece comprises a main body and a telescopic block arranged on the main body, a second guiding inclined surface is arranged on the telescopic block, and a rod body matched with the second guiding inclined surface is arranged on the clamping block;

when the hanging rod ascends, the rod body can be driven to slide along the second guide inclined plane until the rod body is separated from the second guide inclined plane, and the rod body is clamped at the lower end of the telescopic block.

Furthermore, the locking piece also comprises a telescopic spring, when the rod body slides along the second guide inclined surface, the telescopic block is pushed by the rod body and compresses the telescopic spring until the rod body is separated from the second guide inclined surface, and the telescopic block extends out under the elastic action of the telescopic spring and clamps the rod body at the lower end of the telescopic block;

or when the rod body slides along the second guide inclined plane, the controller drives the telescopic block to retract until the rod body is separated from the second guide inclined plane, the controller drives the telescopic block to reset, and the rod body is clamped at the lower end of the telescopic block.

Further, the telescopic rod further comprises a first elastic piece connected with the clamping block, when the controller drives the telescopic block to retract, the rod body is separated from the telescopic block, and the clamping block is inwards/outwards recycled under the elastic action of the first elastic piece and clamps the hanging rod.

Furthermore, the hanging rod further comprises a balance mechanism arranged in the hanging rod, the balance mechanism comprises balance wheels symmetrically arranged along the central axis of the hanging rod, and the traction rope is wound on the balance wheels.

From this, through setting up balance mechanism, if the peg goes up to one side, the preferential butt draw-in groove top of peg is followed the end and is regarded as the support, and the haulage rope of adjusting the peg other end through balance mechanism makes peg both ends haulage rope can continue up to receive, and the both ends of final peg reach the balance until the also butt draw-in groove top of the peg other end is followed.

Further, the winding and unwinding assembly comprises a first driving device and a rotating shaft, the traction rope is wound on the rotating shaft, and the first driving device drives the rotating shaft to rotate clockwise or anticlockwise so as to wind or release the traction rope.

Furthermore, the walking driving mechanism comprises a rack, a second driving device arranged on the rack, a driving wheel and two second guiding mechanisms, wherein the output end of the second driving device is connected with the driving wheel and drives the driving wheel to roll along a track; the two second guide mechanisms are respectively arranged on the front side and the rear side of the driving wheel along the rolling direction of the driving wheel, each second guide mechanism comprises two second guide wheels used for steering along a track, and the two second guide wheels are arranged in parallel.

Furthermore, the second guide mechanism further comprises a connecting support, a support rod, a guide wheel support and a second elastic piece, wherein one end of the connecting support is connected with the rack, and the other end of the connecting support extends out of the rack and is sleeved on the support rod; the bottom end of the supporting rod is pivoted on the guide wheel bracket, and the guide wheel bracket is pivoted and matched with the two second guide wheels; the second elastic piece is sleeved on the supporting rod and is positioned between the connecting frame and the guide wheel bracket.

Therefore, by arranging the second guide mechanism, the two second guide wheels on the second guide mechanism can play a good role in guiding, and the second elastic piece on the second guide mechanism can ensure that the second guide wheels are always attached to the track when being impacted, so that the impact take-off is reduced; on the other hand, the steering of the second guide wheel can be adjusted under the action of the torsion force of the second guide wheel, and the stable running of the logistics shuttle robot during the steering along the track is ensured.

Further, the locking device further comprises a mounting part which is mounted on the rack and is arranged opposite to the connecting frame, a blocking part movably connected to the mounting part, a third elastic part of which two ends are respectively arranged on the mounting part and the blocking part, and a locking mechanism which is partially arranged between the mounting part and the blocking part and is used for locking the blocking part, wherein:

the locking mechanism locks the moving direction to be vertical to the moving plane of the stop piece;

when the logistics shuttle robot runs to the tower, the tower unlocks the locking mechanism, and the blocking piece can overcome the elastic action of the third elastic piece and rotate to avoid the tower; when the logistics shuttle robot leaves the tower, the third elastic piece resets the blocking piece, and the locking mechanism resets and locks the blocking piece again.

Therefore, by arranging the blocking piece and the locking mechanism, when the logistics shuttle robot runs to the tower, the tower unlocks the locking mechanism, so that the blocking piece can be retracted to avoid the tower when the logistics shuttle robot passes through the tower, and the safety of the logistics shuttle robot when the logistics shuttle robot passes through the tower is ensured; when the logistics shuttle robot leaves the tower, the blocking piece can reset and is locked again by the locking mechanism, so that the full surrounding of the track is ensured, and the running safety of the logistics shuttle robot on the track is ensured. By means of the mechanical structure, the stopping piece can be controlled to retract and reset, the logistics shuttle robot is guaranteed to run safely on the rail, and the falling risk is reduced.

Furthermore, the stopper is provided with an installation groove, the locking mechanism comprises a locking rod and a fourth elastic piece, the locking rod and the fourth elastic piece are arranged in the installation groove, a locking part communicated with the installation groove is arranged on the installation piece, and when the stopper is locked by the locking mechanism, the locking rod is inserted into the locking part under the elastic action of the fourth elastic piece; when the locking mechanism unlocks the blocking piece, the locking rod overcomes the elastic action of the fourth elastic piece and exits from the locking part.

Furthermore, one end of the locking rod piece, which is close to the locking part, and one end of the mounting groove, which is far away from the locking part, are respectively provided with a limiting surface of the fourth elastic piece, and the fourth elastic piece is positioned between the two limiting surfaces.

Furthermore, the locking mechanism further comprises a lock pin and an unlocking piece which are arranged on the locking rod, a third guide surface which is abutted against the lock pin is arranged on the blocking piece, the unlocking piece can be pushed by the tower to rotate, and drives the lock pin on the locking rod to move along the third guide surface, so that the locking rod is driven to move and exit from the locking part.

Furthermore, the elastic reset rod is arranged on the locking rod in a penetrating mode, a fixing column is arranged on the blocking piece, and a clamping hook portion capable of hooking the fixing column is arranged on the elastic reset rod.

In addition, the utility model also provides a cableway system, which comprises the logistics shuttle robot, a tower and a track arranged on the tower, wherein a second driving device in the walking driving mechanism drives the driving wheel to roll along the track.

Furthermore, the logistics shuttle robot further comprises a rechargeable battery, a charging assembly is arranged on the track, the charging assembly comprises a charging rail arranged on the side wall of the track, and the charging rail is connected with the track through an insulating part;

the connecting frame is provided with an electric brush fixing block and an electric brush arranged on the electric brush fixing block;

when the second driving device drives the driving wheel to roll along the track, the electric brush on the connecting frame can be driven to be in butt joint with the charging rail on the track, and electric energy provided by the charging rail is transmitted to the rechargeable battery through the electric brush.

Therefore, the rechargeable battery can be charged immediately through the butt joint of the electric brush and the charging rail, so that the operating efficiency of the logistics shuttle robot is improved; and as a spare battery and a power conversion station do not need to be built, the investment capital is reduced, and the economic benefit is improved.

Further, still include power control unit, electric quantity detecting element, the control unit and the positioning unit, the control unit all with power control unit, electric quantity detecting element, the positioning unit and the second drive arrangement electricity is connected, wherein:

the electric quantity detection unit is used for detecting the voltage value of the rechargeable battery and sending the voltage value to the control unit, and when the voltage value is lower than a preset value, the control unit outputs a control signal to the positioning unit and acquires positioning information;

when the positioning information shows that the logistics shuttle robot is not located on the charging rail, the control unit outputs a control signal to the second driving device, the second driving device drives the driving wheel to move to the charging rail, the positioning unit sends a signal to the control unit when detecting that the logistics shuttle robot is located on the charging rail, and the control unit outputs a control signal to the second driving device to control the logistics shuttle robot to stop operating, so that the electric brush is in butt joint with the charging rail;

the control unit outputs a control signal to the power supply control unit, the power supply control unit controls the power supply to output to the charging rail, and the electric brush is in butt joint with the charging rail and transmits electric energy to the rechargeable battery.

The alarm device further comprises an alarm unit which is electrically connected with the control unit, wherein the alarm unit is a buzzer and/or an LED lamp, and the alarm unit is used for giving out an alarm when the voltage value is lower than a preset value.

Furthermore, the electric quantity detection unit is a battery voltage detector, the control unit is a single chip microcomputer, the charging rail is made of brass, and the positioning unit is a GPS module or a combination of an RFID chip and a tag reader-writer or a combination of a laser sensor or an infrared sensor.

Further, the positioning unit is a combination of an RFID code sheet and a tag reader, the RFID code sheet is arranged above the tower, the RFID code sheet is provided with the positioning information, the tag reader is arranged on the logistics shuttle robot and used for reading and writing the positioning information on the RFID code sheet, the tag reader sends the read and written positioning information to the control unit, and the control unit outputs a control signal to the second driving device.

Furthermore, both ends of the charging rail are provided with inclined guide plates, and the inclination angles of the guide plates are

Furthermore, a fifth elastic element is arranged in the electric brush, when the electric brush is in butt joint with the charging rail, the fifth elastic element is extruded, and when the logistics shuttle robot slides along the rail and leaves the charging rail, the fifth elastic element resets.

In summary, the logistics shuttle robot and the cableway system provided by the utility model have the following beneficial effects:

according to the logistics shuttle robot, the clamping assembly is arranged, and after the logistics box rises in place, the clamping block is inwards/outwards recycled and clamps the hanging rod, so that the weight of a bearing object is supported, the traction rope is not directly stressed, the risks of falling of the logistics box and violent shaking of the logistics box due to fracture of the traction rope are effectively prevented, and the work is safer.

According to the logistics shuttle robot, the balance mechanism is arranged, when the hanging rod is inclined and ascends, the hanging rod is preferentially abutted to the top edge end of the clamping groove to serve as a support, the traction ropes at the other end of the hanging rod are adjusted through the balance mechanism, so that the traction ropes at two ends of the hanging rod can be continuously upwards retracted until the other end of the hanging rod is also abutted to the top edge of the clamping groove, and finally the two ends of the hanging rod are balanced.

The logistics shuttle robot is provided with the second guide mechanism, the two second guide wheels on the second guide mechanism can play a good role in guiding, and the second elastic piece on the second guide mechanism can ensure that the second guide wheels are always attached to the track when being impacted, so that the impact take-off is reduced; on the other hand, the steering of the second guide wheel can be adjusted under the action of the torsion force of the second guide wheel, and the stable running of the logistics shuttle robot during the steering along the track is ensured.

The blocking piece and the locking mechanism are arranged, so that when the logistics shuttle robot runs to the tower, the tower unlocks the locking mechanism, the blocking piece can be retracted when the logistics shuttle robot passes through the tower so as to avoid the tower, and the safety of the logistics shuttle robot when the logistics shuttle robot passes through the tower is ensured; when the logistics shuttle robot leaves the tower, the blocking piece can reset and is locked again by the locking mechanism, so that the full surrounding of the track is ensured, and the running safety of the logistics shuttle robot on the track is ensured. By means of the mechanical structure, the stopping piece can be controlled to retract and reset, the logistics shuttle robot is guaranteed to run safely on the rail, and the falling risk is reduced.

According to the cableway system, the rechargeable battery can be charged immediately through the butt joint of the electric brush and the charging rail, so that the operation efficiency of the logistics shuttle robot is improved; and as a spare battery and a power conversion station do not need to be built, the investment capital is reduced, and the economic benefit is improved.

Drawings

FIG. 1 is a schematic structural diagram of the logistics shuttle robot with the logistics boxes hidden;

FIG. 2 is a schematic structural view of the hanging winch mechanism with the housing hidden;

FIG. 3 is an enlarged view of a portion A of FIG. 2;

FIG. 4 is a schematic structural view of a fixture block and a hinge seat in the hanging hoisting mechanism of the present invention;

FIG. 5 is a schematic structural diagram of a hanging rod and a clamping block of the hanging winch according to another embodiment of the present invention;

FIG. 6 is a schematic view of a portion of the structure of FIG. 2;

FIG. 7 is a schematic structural view of the travel drive mechanism of the present invention with the hood hidden;

FIG. 8 is a schematic view of the construction of the linking bracket of the present invention;

FIG. 9 is a schematic structural diagram of the logistic shuttle robot with the logistic box, the hanging winding mechanism and the control device hidden;

FIG. 10 is an enlarged view of a portion B of FIG. 9;

FIG. 11 is a schematic structural view of the stopper of FIG. 10 after being hidden;

FIG. 12 is a schematic cross-sectional view of a part of the structure of the flow shuttle robot of the present invention;

FIG. 13 is a schematic view of the structure of FIG. 8 from another perspective;

FIG. 14 is an enlarged view of a portion C of FIG. 13;

FIG. 15 is a schematic structural view of the cableway system of the present invention;

FIG. 16 is an enlarged view of a portion D of FIG. 15;

FIG. 17 is a schematic structural diagram of the logistic shuttle robot after moving to the charging rail according to the present invention;

fig. 18 is a schematic diagram of the structure of fig. 17 with the logistics shuttle robot and RFID chip hidden.

Wherein the reference numerals have the following meanings:

1. a hanging hoisting mechanism; 11. a hanging rod; 111. a first guide slope; 12. a hauling rope; 131. a first driving device; 1311. a drive motor; 1312. a worm gear reducer; 132. a rotating shaft; 133. mounting a bracket; 141. a clamping block; 1411. a card slot; 1412. a rod body; 1413. hinging a lug; 142. a locking member; 1421. a main body; 1422. a telescopic block; 14221. a second guide slope; 143. an in-place detector; 144. a hinged seat; 15. a first elastic member; 16. a balance wheel; 17. a first guide mechanism; 171. a guide seat; 172. a first guide wheel; 2. a travel drive mechanism; 21. a frame; 22. a second driving device; 23. a drive wheel; 241. a second guide wheel; 242. connecting a bracket; 2421. opening a hole; 243. a support bar; 244. a guide wheel bracket; 245. a second elastic member; 25. a hood; 3. a connecting frame; 31. an electric brush fixing block; 32. an electric brush; 4. a control device; 511. a mounting member; 5111. a lock section; 512. a stopper; 5121. a third guide surface; 5122. mounting grooves; 513. a third elastic member; 514. an elastic reset lever; 515. fixing a column; 516. a rotating shaft; 521. a lock lever; 5211. a limiting surface; 522. a fourth elastic member; 523. a lock pin; 524. unlocking the lock; 6. a tower; 7. a track; 81. a charging rail; 82. a guide plate; 83. an insulating member; 84. RFID code chip; 9. and a logistics box.

Detailed Description

For better understanding and implementation, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the utility model herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model.

Example one

Referring to fig. 1 to 12, the utility model provides a logistics shuttle robot, which comprises a walking driving mechanism 2, a connecting frame 3, a control device 4 and a logistics box 9, wherein the upper end of the connecting frame 3 is connected with the walking driving mechanism 2, and the lower end of the connecting frame 3 is connected with the control device 4; the lower end of the control device 4 is provided with a hanging hoisting mechanism 1 for driving the logistics box 9 to ascend or descend.

Referring to fig. 2-5, the hanging winding mechanism 1 includes a hanging rod 11 for hanging the material box 9, a pulling rope 12 connected to the hanging rod 11, and a winding and unwinding assembly for driving the pulling rope 12 to wind or unwind to drive the hanging rod 11 to ascend or descend.

Specifically, the winding and unwinding assembly includes a first driving device 131, a rotating shaft 132, and a mounting bracket 133, wherein the mounting bracket 133 is located above the hanging rod 11. The mounting bracket 133 is two symmetrically arranged U-shaped brackets, and the rotating shaft 132 horizontally penetrates the U-shaped brackets; the first driving device 131 is disposed between the two U-shaped brackets and is in driving connection with the rotating shafts 132 at both sides. The first driving device 131 comprises a driving motor 1311 and a worm gear reducer 1312, wherein the output end of the driving motor 1311 is connected with a worm (not shown in the figure) in the worm gear reducer 1312, the worm is in meshing transmission with a worm wheel (not shown in the figure), and the output end of the worm wheel is connected with the rotating shaft 132; the traction rope 12 is wound around the rotation shaft 132.

Therefore, when the driving motor 1311 drives the rotating shafts 132 on both sides to rotate clockwise or counterclockwise through the worm gear reducer 1312, the pulling rope 12 can be wound on the side wall of the rotating shaft 132 or the pulling rope 12 can be released on the rotating shaft 132, so as to lift or lower the logistics box 9.

Referring to fig. 2-6, the hanging winding mechanism 1 further includes a clamping assembly for clamping the hanging rod 11, the clamping assembly includes a clamping block 141 disposed at two ends of the hanging rod 11 and used for clamping the hanging rod 11, a locking member 142 for locking the clamping block 141, an in-place detector 143, and a controller (not shown), and the controller is electrically connected to the locking member 142 and the in-place detector 143, respectively. The locker 142 and the in-position detector 143 are provided on the mounting bracket 133.

Specifically, the fixture block 141 includes a slot 1411 into which the end of the hanging rod 11 can extend and a hinge eye 1413 disposed on the slot 1411, the mounting bracket 133 is provided with a hinge seat 144, and the hinge eye 1413 on the fixture block 141 is hinged on the hinge seat 144; the end of the hanging rod 11 is provided with a first guiding inclined plane 111 which is matched with the clamping groove 1411.

Therefore, when the winding and unwinding assembly drives the hanging rod 11 to ascend, the end of the hanging rod 11 is firstly driven to abut against the bottom of the fixture block 141 and drive the fixture block 141 to slightly open outwards, and then the hanging rod 11 continues to ascend until the first guide inclined plane 111 on the hanging rod 11 abuts against the top edge of the clamping groove 1411, so as to drive the fixture block 141 to slide along the first guide inclined plane 111 and enable the hinge lug 1413 to rotate along the hinge seat 144 to completely open outwards.

In this embodiment, after the hanging rod 11 is lowered, the latch 141 is retracted and is in the non-opened state, so that the hanging rod 11 will first abut against the bottom of the latch 141 after being lifted; in other embodiments, after the hanging rod 11 is lowered, the latch 141 is still in the open state, and the hanging rod 11 will not abut against the bottom of the latch 141 after being lifted.

Referring to fig. 5, in other embodiments, two ends of the hanging rod 11 may also be of an inward-bent structure, when the winding and unwinding assembly drives the hanging rod 11 to ascend, the end of the hanging rod 11 may be driven to abut against the bottom of the fixture block 141 and drive the fixture block 141 to slightly open inwards, then the hanging rod 11 continues to ascend until the first guiding inclined plane 111 on the hanging rod 11 abuts against the top edge of the fixture groove 1411, further the fixture block 141 is driven to slide along the first guiding inclined plane 111, the hinge ear 1413 rotates along the hinge seat 144 to completely open inwards, the locking member 142 locks the fixture block 141 to keep an inward state, the hanging rod 11 may be lowered or lifted, and when the hanging rod 11 needs to be locked, the locking member 142 unlocks the fixture block 141 to return outwards and lock the hanging rod 11.

In addition, the fixture block 141 further includes a rod body 1412 disposed above the slot 1411, the locking member 142 includes a main body 1421, a telescopic block 1422 disposed on the main body 1421, and a telescopic spring (not shown), and the telescopic block 1422 is provided with a second guiding inclined surface 14221 engaged with the rod body 1412.

Therefore, when the winding and unwinding assembly drives the hanging rod 11 to ascend to the first guiding inclined surface 111 to abut against the top edge of the slot 1411, and further drives the fixture block 141 to slide along the first guiding inclined surface 111, the rod body 1412 can be driven to slide along the second guiding inclined surface 14221.

In this embodiment, the telescopic block 1422 is pushed by the rod body 1412 and compresses the telescopic spring until the rod body 1412 is separated from the second guiding slope 14221, the telescopic block 1422 extends under the elastic force of the telescopic spring and clamps the rod body 1412 at the lower end thereof, so that the rod body 1412 cannot be retracted, and the locking of the rod body 1412 can be further achieved. In other embodiments, when the rod body 1412 slides along the second guiding slope 14221, the controller drives the telescopic block 1422 to retract until the rod body 1412 is separated from the second guiding slope 14221, the controller drives the telescopic block 1422 to reset, and the rod body 1412 is clamped at the lower end of the telescopic block 1422, so that the rod body 1412 cannot be retracted, and further, the locking of the rod body 1412 can be realized. The in-place detector 143 includes a spring plate disposed under the mounting bracket 133, and when the hanging rod 11 continues to rise and contact the spring plate, the in-place detector 143 sends an in-place signal to the controller, and the controller controls the driving motor 1311 to stop operating.

In this embodiment, when the two ends of the hanging rod 11 are the structures shown in fig. 1, the locking member 142 and the in-position detector 143 are both located inside the hinge seat 144; when both ends of the hanging bar 11 are in the structure shown in fig. 4, the locking member 142 and the in-position detector 143 are located outside the hinge seat 144. In addition, a first elastic member 15 is further included, and one end of the first elastic member 15 is connected to the hinge ear 1413 of the latch 141 and the other end thereof is connected to the mounting bracket 133. When the controller drives the telescopic block 1422 to retract, the rod body 1412 on the latch 141 is separated from the telescopic block 1422, and meanwhile, the controller controls the driving motor 1311 to operate and lower the hanging rod 11 until the first guiding inclined plane 111 is separated from the top edge of the slot 1411, and the latch 141 is retracted inward under the elastic force of the first elastic member 15 and latches the hanging rod 11.

In this embodiment, the controller is a single chip microcomputer, the in-place detector 143 is a micro switch, a travel switch, or an infrared switch, the locking member 142 is an electromagnetic lock or a motor, and the first elastic member 15 is a spring.

In addition, the hanging winch mechanism 1 further comprises a balance mechanism arranged in the hanging rod 11, the balance mechanism comprises two balance wheels 16 symmetrically arranged along the central axis of the hanging rod 11, and the traction rope 12 is wound on the balance wheels 16.

From this, through setting up balance mechanism, if peg 11 slope when rising, peg 11 is preferred butt draw-in groove 1411 top edge end as the support, and haulage rope 12 through the balance mechanism regulation peg 11 other end makes peg 11 both ends haulage rope 12 can continue to up receive, also butt draw-in groove 1411 top edge until the peg 11 other end, and final peg 11's both ends reach balancedly.

In addition, the first guide mechanisms 17 are arranged on the mounting bracket 133, each first guide mechanism 17 includes a guide seat 171 and two first guide wheels 172 arranged on the guide seat 171 and opposite to each other, the traction rope 12 passes through between the two first guide wheels 172 and is in transmission connection with both the two first guide wheels 172, and the first guide wheels 172 mainly guide the traction rope 12 to move in the vertical direction.

Therefore, the working principle of the hanging hoisting mechanism 1 is as follows:

when the logistics box 9 needs to be put down, two ends of the hanging rod 11 positioned at the upper end of the logistics box 9 are clamped by the clamping blocks 141, and at the moment, the hanging rod 11 cannot descend; then the winding and unwinding assembly drives the hanging rod 11 to ascend, so as to drive the first guide inclined surface 111 to abut against the top edge of the clamping groove 1411, enable the clamping groove 1411 to slide along the first guide inclined surface 111, and simultaneously drive the rod body 1412 to slide along the second guide inclined surface 14221, so as to enable the hinge ear 1413 to rotate along the hinge seat 144 to be opened outwards, until the rod body 1412 is separated from the second guide inclined surface 14221 and clamped at the lower end of the telescopic block 1422, the rod body 1412 cannot be recovered, at this time, the clamping block 141 is in a locking state, at this time, the hanging rod 11 can descend, and drive the logistics box 9 to descend to load and unload goods; when the hanging rod 11 descends to the position below the fixture block 141, the controller drives the telescopic block 1422 to retract, and the telescopic block 1422 resets; the rod body 1412 on the latch 141 is separated from the telescopic block 1422, and the latch 141 is retracted and restored by the elastic force of the first elastic element 15.

When the logistics box 9 needs to be lifted, the winding and unwinding assembly drives the hanging rod 11 to lift and drive the logistics box 9 to lift, the end of the hanging rod 11 is abutted to the bottom of the clamping block 141 and drives the clamping block 141 to slightly open outwards, and then the hanging rod 11 continues to lift until the first guide inclined plane 111 on the hanging rod 11 is abutted to the top edge of the clamping groove 1411, so that the clamping block 141 is driven to slide along the first guide inclined plane 111 to be completely opened outwards; subsequently, the hanging rod 11 continues to rise until the hanging rod 11 contacts with the micro switch on the mounting bracket 133, the micro switch sends a signal to the single chip microcomputer, the single chip microcomputer controls the driving motor 1311 to stop operating, the single chip microcomputer controls the telescopic block 1422 on the electromagnetic lock to retract, so that the rod body 1412 on the fixture block 141 is separated from the telescopic block 1422, meanwhile, the single chip microcomputer controls the driving motor 1311 to operate and lower the hanging rod 11 until the first guide inclined surface 111 is separated from the top edge of the clamping groove 1411, the fixture block 141 is inwards recycled under the elastic force of the spring and clamps the hanging rod 11, and at this moment, the hanging rod 11 cannot descend, so that the hanging rod 11 is locked, and the logistics box 9 is fixed.

From this, through setting up the chucking subassembly, after thing flow box 9 rises to target in place, its fixture block 141 inwards retrieves and blocks peg 11 to the support bears object weight, directly not with haulage rope 12 atress, has effectively prevented that the fracture thing flow box 9 of haulage rope 12 drops and thing flow box 9 from rocking violent risk, makes work safer.

Referring to fig. 7, the traveling driving mechanism 2 includes a frame 21, a second driving device 22 mounted on the frame 21, a driving wheel 23, and two second guiding mechanisms, wherein an output end of the second driving device 22 is connected to the driving wheel 23 and drives the driving wheel 23 to roll along the rail 7; the two second guide mechanisms are respectively arranged on the front side and the rear side of the driving wheel 23 along the rolling direction of the driving wheel 23, and each second guide mechanism comprises two second guide wheels 241 for steering along the rail 7, and the two second guide wheels 241 are arranged in parallel.

In this embodiment, the second driving device 22 is a motor, and an output shaft of the motor is connected to a rotating shaft on the driving wheel 23.

Therefore, the second guiding mechanism can play a good role in guiding when the logistics shuttle robot needs to turn along the rail 7, and in order to improve the flexibility of the second guide wheel 241 in the second guiding mechanism, the second guiding mechanism further comprises a connecting bracket 242, a supporting rod 243, a guide wheel bracket 244 and a second elastic piece 245, one end of the connecting bracket 242 is connected with the rack 21, and the other end of the connecting bracket 242 extends out of the rack 21 and is sleeved on the supporting rod 243; the bottom end of the support bar 243 is pivotally connected to the guide wheel bracket 244; the guide wheel bracket 244 is pivotally connected to both of the second guide wheels 241. The second elastic member 245 is sleeved on the support bar 243, and two ends of the second elastic member are respectively located between the connecting bracket 242 and the guide wheel bracket 244.

Therefore, the second guide wheel 241 can move up and down along with the support rod 243 within the range defined by the connecting bracket 242, and at the same time, the second guide wheel 241 can drive the support rod 243 to rotate. On one hand, the second elastic member 245 can be matched with a pressing force applied to the connecting bracket 242 by the logistics shuttle robot due to self weight under the action of the self telescopic force thereof, so as to ensure that the second guide wheel 241 is always attached to the track 7 in the process of moving up and down relative to the connecting bracket 242; on the other hand, the second guide wheel 241 can be adjusted under the action of the torsion force of the second guide wheel 241 when the second guide wheel 241 is turned along the track 7, so that the driving wheel 23 can stably run along the track 7 under the guidance of the guide mechanism, and especially the stable running of the logistics shuttle robot when the logistics shuttle robot is turned along the track 7 can be ensured, so that the stability of the logistics shuttle robot when the logistics shuttle robot is turned is further improved, and the stable running of the logistics shuttle robot in the track changing process is ensured.

Referring to fig. 8, the connecting bracket 242 is bent, and two ends of the connecting bracket are configured as a first connecting portion and a second connecting portion, the first connecting portion is provided with an opening 2421 sleeved on the supporting rod 243, and the second connecting portion is connected with the frame 21.

In the embodiment, the diameter of the opening 2421 is larger than the diameter of the support rod 243, so the support rod 243 can move up and down along the axial direction of the opening 2421. When the logistics shuttle robot climbs the slope, the connecting bracket 242 located at the front side of the driving wheel 23 gradually descends to the bottom of the supporting rod 243 and compresses the second elastic member 245, and the connecting bracket 242 located at the rear side of the driving wheel 23 gradually ascends to the top of the supporting rod 243 and stretches the second elastic member 245; when the logistics shuttle robot descends the slope, the opposite is true, the connecting bracket 242 at the rear side of the driving wheel 23 descends and compresses the second elastic member 245, and the connecting bracket 242 at the front side of the driving wheel 23 ascends and stretches the second elastic member 245; when the logistics shuttle robot walks on a horizontal plane, the connecting brackets 242 on both sides of the driving wheel 23 are located at the middle position of the supporting rod 243.

Referring to fig. 9-13, the device further includes a mounting member 511 mounted on the frame 21 and disposed opposite to the connecting frame 3, a stopper 512 movably connected to the mounting member 511, and a third elastic member 513 having two ends disposed on the mounting member 511 and the stopper 512, respectively.

In this embodiment, the mounting part 511 is a mounting plate, and the third elastic element 513 is a spring, and one end of the third elastic element is hung on the mounting part 511, and the other end is hung on the top of the stopper 512.

Referring to fig. 9-13, a locking mechanism is further included for locking the stopping member 512, the locking mechanism being partially disposed between the mounting member 511 and the stopping member 512, and the locking mechanism is locked in a direction perpendicular to the moving plane of the stopping member 512. Specifically, the locking mechanism includes a mounting groove 5122 disposed on the stop member 512, a locking rod 521 disposed in the mounting groove 5122, and a fourth elastic member 522, and the mounting member 511 is provided with a locking portion 5111 communicating with the mounting groove 5122; one end of the locking rod 521 close to the locking portion 5111 and one end of the mounting groove 5122 far from the locking portion 5111 are respectively provided with a limiting surface 5211 for limiting the fourth elastic member 522, and the fourth elastic member 522 is located between the two limiting surfaces 5211. Thus, one end of the locking rod 521 is inserted into the locking portion 5111 by the elastic force of the fourth elastic member 522, so that the blocking member 512 is clamped and fixed.

In this embodiment, the locking portion 5111 is a locking hole provided on the mounting member 511; a limiting surface 5211 is arranged at one end, close to the locking part 5111, of the locking rod 521; the fourth elastic member 522 is a spring, and one end of the fourth elastic member abuts against the limiting surface 5211, and the other end of the fourth elastic member abuts against one end of the mounting groove 5122 away from the locking portion 5111.

Referring to fig. 10-11, the locking mechanism further includes a locking pin 523 transversely penetrating through the locking rod 521 and an unlocking member 524 vertically penetrating through the locking rod 521, a third guiding surface 5121 abutting against the locking pin 523 is disposed on the blocking member 512, and the third guiding surface 5121 is a guiding inclined surface; the unlocking member 524 is a substantially rectangular frame structure formed by bending for many times, and the head end and the tail end thereof are both inserted into the locking rod 521.

Therefore, when the traveling driving mechanism 2 drives the driving wheel 23 to slide to the tower 6 along the rail 7, the tower 6 firstly contacts with the unlocking piece 524 and drives the unlocking piece 524 to rotate, the unlocking piece 524 rotates to drive the locking rod 521 to rotate, the locking rod 521 rotates to drive the locking pin 523 to move downwards along the third guide surface 5121, and further the locking rod 521 is driven to overcome the elastic force of the fourth elastic piece 522 to move and exit from the locking hole, so that the blocking piece 512 is unlocked; then the driving wheel 23 continues to move and makes the tower 6 contact the stopper 512, and drives the stopper 512 to rotate against the elastic force of the third elastic element 513 to avoid the tower 6; when the logistic shuttle robot leaves the tower 6, the third elastic member 513 resets the stopper 512, and the locking mechanism resets and re-locks the stopper 512.

In this embodiment, the third guide surface 5121 may also be a guide arc surface, and is not limited herein.

Referring to fig. 10, the elastic restoring rod 514 is vertically disposed on the locking rod 521, a fixed column 515 is disposed at the end of the blocking member 512, and a hook portion capable of hooking the fixed column 515 is disposed on the elastic restoring rod 514 and is a hook disposed at the bottom of the elastic restoring rod 514.

In this embodiment, the fixing post 515 is a screw, the stopper 512 is provided with a threaded hole, and the fixing post 515 passes through the hook portion of the elastic reset rod 514 and is in threaded connection with the threaded hole.

Thus, when the shuttle robot leaves the tower 6, the fourth elastic member 522 resets the locking rod 521 and is inserted into the locking part 5111, and simultaneously, the locking pin 523 moves upward along the third guide surface 5121 and drives the locking rod 521 to rotate and reset.

In addition, a rotating shaft 516 is further included, which is disposed through both the mounting member 511 and the stopper 512, and when the locking mechanism unlocks the stopper 512, the stopper 512 can rotate around the axial direction of the rotating shaft 516.

Therefore, by arranging the blocking piece 512 and the locking mechanism, when the logistics shuttle robot runs to the tower 6, the tower 6 unlocks the locking mechanism, so that the blocking piece 512 can be retracted to avoid the tower 6 when the logistics shuttle robot passes through the tower 6, and the safety of the logistics shuttle robot when the logistics shuttle robot passes through the tower 6 is ensured; when leaving the tower 6, the stop member 512 can be reset and locked again by the locking mechanism, so that the full enclosure of the track 7 is ensured, and the safety of the logistic shuttle robot running on the track 7 is ensured. By the aid of the mechanical structure, the stopper 512 can be controlled to retract and reset, the logistics shuttle robot is guaranteed to run safely on the rail 7, and falling risks are reduced.

Example two

Referring to fig. 14-17, the present invention further provides a cableway system, which includes the above-mentioned logistics shuttle robot, a tower 6, and a track 7 disposed on the tower 6, wherein a second driving device 22 in the walking driving mechanism 2 drives a driving wheel 23 to roll along the track 7.

Specifically, the logistics shuttle robot further includes a rechargeable battery (not shown in the figure), a charging assembly is disposed on the rail 7, and the charging rail 81 is arc-shaped and fixed on the side wall of the rail 7 through an insulating member 83.

In the present embodiment, there are a plurality of charging assemblies, and the plurality of charging assemblies are uniformly arranged along the rail 7; the charging rail 81 is made of brass.

Therefore, when the second driving device 22 drives the driving wheel 23 to slide along the rail 7, the brush 32 on the connecting frame 3 can be driven to be in butt joint with the charging rail 81 on the rail 7, and the electric energy provided by the charging rail 81 is transmitted to the rechargeable battery through the brush 32, so that the rechargeable battery is charged immediately, and the operating efficiency of the logistics shuttle robot is improved.

In the present embodiment, there are two brushes 32, and the two brushes are arranged on the brush fixing block 31 of the connecting frame 3 at intervals up and down; two charging rails 81 in the charging assembly are arranged on the side wall of the track 7 at intervals from top to bottom; the two brushes 32 are in one-to-one butt joint with the two charging rails 81.

In addition, a fifth elastic element (not shown in the figure) is further disposed in the brush 32, and when the brush 32 is abutted to the charging rail 81, the fifth elastic element is pressed, and when the shuttle robot slides along the rail 7 and leaves the charging rail 81, the fifth elastic element is reset. Therefore, the brush 32 can be better attached to the charging rail 81 through the elastic force of the fifth elastic element, and the charging efficiency is further improved.

In addition, two ends of the charging rail 81 are provided with inclined guide plates 82, and the inclination angle of the guide plates 82 is

Thus, the guide plate 82 can guide the brush 32 into and into abutment with the charging rail 81, thereby improving the reliability of the abutting charging.

In addition, the cableway system further includes a power control unit (not shown), an electric quantity detection unit (not shown), a positioning unit (not shown), an alarm unit (not shown), and a control unit (not shown), wherein the control unit is electrically connected to the power control unit, the electric quantity detection unit, the positioning unit, the alarm unit, and the second driving device 22.

Specifically, the positioning unit is used for collecting azimuth information and sending a signal to the control unit; the electric quantity detection unit is used for detecting the voltage value of the rechargeable battery and sending the voltage value to the control unit; the control unit can be preset with a voltage value, when the voltage value detected by the electric quantity detection unit is lower than a preset value on the control unit, the alarm unit gives out an alarm, and the control unit outputs a control signal to the positioning unit and acquires positioning information;

when the positioning information shows that the logistics shuttle robot is not positioned on the charging rail 81, the control unit outputs a control signal to the second driving device 22, and the second driving device 22 drives the driving wheel 23 to move to the charging rail 81 and enables the electric brush 32 to be in butt joint with the charging rail 81; when the positioning unit detects that the logistics shuttle robot is in place, a signal is sent to the control unit, the control unit outputs a control signal to the second driving device 22 to control the logistics shuttle robot to stop running, the control unit outputs a control signal to the power supply control unit, the power supply control unit controls the power supply to be output to the charging rail 81, and the electric brush 32 is in butt joint with the charging rail 81 and transmits electric energy to the rechargeable battery;

when the positioning information shows that the logistics shuttle robot is positioned on the charging rail 81, the control unit outputs a control signal to the second driving device 22 to control the logistics shuttle robot to stop operating, the logistics shuttle robot is parked on the track 7, and the electric brush 32 is butted with the charging rail 81; the control unit outputs a control signal to the power control unit, which controls the power output to the charging rail 81, and the brush 32 is in contact with the charging rail 81 and transmits the electric power to the rechargeable battery.

In this embodiment, the electric quantity detection unit is a battery voltage detector, the control unit is a single chip microcomputer, and the alarm unit is a buzzer and/or an LED lamp.

Referring to fig. 15, the positioning unit is a combination of an RFID code sheet 84 and a tag reader (not shown), the RFID code sheet 84 is arranged above the tower 6, the RFID code sheet 84 is provided with positioning information, the tag reader is arranged on the logistics shuttle robot and used for reading and writing the positioning information on the RFID code sheet 84, and the tag reader sends the read and written positioning information to the control unit.

Of course, in other embodiments, the positioning unit may also be a laser sensor assembly, an infrared sensor assembly, or a GPS module, which is not limited herein.

Therefore, when the electric quantity of the rechargeable battery is lower than the preset value, the second driving device 22 drives the driving wheel 23 to slide along the rail 7 and enables the electric brush 32 on the connecting frame 3 to be in butt joint with the charging rail 81, so that the rechargeable battery is charged immediately, and the operating efficiency of the logistics shuttle robot is improved; and as a spare battery and a power conversion station do not need to be built, the investment capital is reduced, and the economic benefit is improved.

In addition, a hood 25 is provided on the frame 21 to protect the second driving device 22 and the driving wheels 23 inside the frame 21.

according to the logistics shuttle robot, the clamping assembly is arranged, and after the logistics box 9 rises to the right position, the clamping block 141 is inwards recycled to clamp the hanging rod 11, so that the weight of a loaded object is supported, the traction rope 12 is not directly stressed, the risk that the traction rope 12 breaks the logistics box 9 and the logistics box 9 shakes violently is effectively prevented, and the work is safer.

Secondly, the logistics shuttle robot is provided with the balance mechanism, when the hanging rod 11 inclines and rises, the hanging rod 11 is preferentially abutted to the top edge end of the clamping groove 1411 to serve as a support, the traction ropes 12 at the other end of the hanging rod 11 are adjusted through the balance mechanism, so that the traction ropes 12 at the two ends of the hanging rod 11 can be continuously retracted upwards until the other end of the hanging rod 11 is also abutted to the top edge of the clamping groove 1411, and finally the two ends of the hanging rod 11 are balanced.

Thirdly, the second guide mechanism is arranged, and the two second guide wheels 241 on the second guide mechanism can play a good role in guiding, so that on one hand, the logistics shuttle robot can be matched with the pressing force exerted on the connecting bracket 242 by the self-weight of the logistics shuttle robot under the action of the self-stretching force to ensure that the second guide wheels 241 are always attached to the track 7 in the process of moving up and down relative to the connecting bracket 242; on the other hand, the second guide wheel 241 can be adjusted under its own torsion force when the second guide wheel 241 turns with the rail 7, so that the driving wheel 23 can run smoothly along the rail 7 under the guidance of the guide mechanism.

By arranging the blocking piece 512 and the locking mechanism, when the logistics shuttle robot runs to the tower 6, the tower 6 unlocks the locking mechanism, so that the blocking piece 512 can be retracted to avoid the tower 6 when the logistics shuttle robot passes through the tower 6, and the safety of the logistics shuttle robot when the logistics shuttle robot passes through the tower 6 is ensured; when leaving the tower 6, the stop member 512 can be reset and locked again by the locking mechanism, so that the full enclosure of the track 7 is ensured, and the safety of the logistic shuttle robot running on the track 7 is ensured. By the aid of the mechanical structure, the stopper 512 can be controlled to retract and reset, the logistics shuttle robot is guaranteed to run safely on the rail 7, and falling risks are reduced.

According to the cableway system, the electric brush 32 is in butt joint with the charging rail 81, so that the rechargeable battery can be charged immediately, and the operation efficiency of the logistics shuttle robot is improved; and as a spare battery and a power conversion station do not need to be built, the investment capital is reduced, and the economic benefit is improved.

The technical means disclosed in the utility model scheme are not limited to the technical means disclosed in the above embodiments, but also include the technical scheme formed by any combination of the above technical features. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and such improvements and modifications are also considered to be within the scope of the present invention.

Claims

1. The utility model provides a commodity circulation shuttle robot, includes walking drive mechanism, link, controlling means and commodity circulation case, the link respectively with walking drive mechanism and controlling means connects, controlling means is last to be equipped with the drive the ascending or descending hoist mechanism that hangs of commodity circulation case, its characterized in that:

2. The logistics shuttle robot as claimed in claim 1, wherein the fixture block is provided with a slot into which the end of the hanging rod can extend, the end of the hanging rod is provided with a first guiding inclined surface, and when the hanging rod ascends, the first guiding inclined surface is driven to abut against the slot, so as to drive the fixture block to slide along the first guiding inclined surface to open outwards/inwards; or, a clamping groove for the end part of the hanging rod to extend into is arranged on the clamping block, and when the hanging rod ascends, the controller controls the clamping block to be opened outwards/inwards.

3. The logistics shuttle robot of claim 2, wherein the locking member comprises a main body and a telescopic block arranged on the main body, a second guiding inclined surface is arranged on the telescopic block, and a rod body matched with the second guiding inclined surface is arranged on the clamping block;

4. The logistics shuttle robot of claim 3, wherein the locking member further comprises a telescopic spring, when the rod body slides along the second guiding inclined surface, the telescopic block is pushed by the rod body and compresses the telescopic spring until the rod body is separated from the second guiding inclined surface, and the telescopic block extends under the elastic force of the telescopic spring and clamps the rod body at the lower end of the telescopic block;

5. The logistics shuttle robot of claim 3, further comprising a first elastic member connected to the fixture block, wherein when the controller drives the telescopic block to retract, the rod body is separated from the telescopic block, and the fixture block is retracted inwards/outwards under the elastic force of the first elastic member to clamp the hanging rod.

6. The logistics shuttle robot of claim 1, further comprising a balancing mechanism disposed within the hanging rod, wherein the balancing mechanism comprises balancing wheels symmetrically disposed along the central axis of the hanging rod, and the traction rope is wound on the balancing wheels.

7. The logistics shuttle robot of claim 1, wherein the reeling and unreeling assembly comprises a first driving device and a rotating shaft, the pulling rope is wound on the rotating shaft, and the first driving device drives the rotating shaft to rotate clockwise or anticlockwise so as to reel or unreel the pulling rope.

8. The logistics shuttle robot of claim 1, wherein the walking driving mechanism comprises a frame, a second driving device mounted on the frame, a driving wheel and two second guiding mechanisms, wherein an output end of the second driving device is connected with the driving wheel and drives the driving wheel to roll along a track; the two second guide mechanisms are respectively arranged on the front side and the rear side of the driving wheel along the rolling direction of the driving wheel, each second guide mechanism comprises two second guide wheels used for steering along a track, and the two second guide wheels are arranged in parallel.

9. The logistics shuttle robot of claim 8, wherein the second guiding mechanism further comprises a connecting bracket, a supporting rod, a guide wheel bracket and a second elastic member, wherein one end of the connecting bracket is connected with the rack, and the other end of the connecting bracket extends out of the rack and is sleeved on the supporting rod; the bottom end of the supporting rod is pivoted on the guide wheel bracket, and the guide wheel bracket is pivoted and matched with the two second guide wheels; the second elastic piece is sleeved on the supporting rod and is positioned between the connecting frame and the guide wheel bracket.

10. The logistics shuttle robot of claim 8 or 9, further comprising a mounting member mounted on the frame and disposed opposite to the connecting frame, a stopping member movably connected to the mounting member, a third elastic member having two ends disposed on the mounting member and the stopping member respectively, and a locking mechanism partially disposed between the mounting member and the stopping member and used for locking the stopping member, wherein:

11. The logistics shuttle robot of claim 10, wherein the stopper is provided with a mounting groove, the locking mechanism comprises a locking rod and a fourth elastic member, the locking rod is arranged in the mounting groove, the mounting member is provided with a locking part communicated with the mounting groove, and when the locking mechanism locks the stopper, the locking rod is inserted into the locking part under the elastic force of the fourth elastic member; when the locking mechanism unlocks the blocking piece, the locking rod overcomes the elastic action of the fourth elastic piece and exits from the locking part.

12. The logistics shuttle robot of claim 11, wherein one end of the locking rod piece close to the locking part and one end of the mounting groove far away from the locking part are respectively provided with a limiting surface of the fourth elastic piece, and the fourth elastic piece is positioned between the two limiting surfaces.

13. The logistics shuttle robot of claim 11, wherein the locking mechanism further comprises a locking pin and an unlocking member disposed on the locking rod, the blocking member is provided with a third guide surface abutting against the locking pin, the unlocking member can be pushed by the tower to rotate and drive the locking pin on the locking rod to move along the third guide surface, and further drive the locking rod to move and exit the locking part.

14. The logistics shuttle robot of claim 11, further comprising an elastic reset rod arranged on the locking rod in a penetrating manner, wherein the blocking member is provided with a fixed column, and the elastic reset rod is provided with a hook part capable of hooking the fixed column.

15. A cableway system comprising the logistics shuttle robot of any one of claims 8 to 14, a tower, and a track provided on the tower, wherein the second driving means in the travel driving mechanism drives the driving wheels to roll along the track.

16. The cableway system according to claim 15, wherein the shuttle robot further comprises a rechargeable battery, the rail is provided with a charging assembly, the charging assembly comprises a charging rail arranged on a side wall of the rail, and the charging rail is connected with the rail through an insulator;

17. The cableway system according to claim 16, further comprising a power control unit, a power detection unit, a control unit, and a positioning unit, the control unit being electrically connected to the power control unit, the power detection unit, the positioning unit, and the second driving device, wherein:

18. The cableway system according to claim 17, further comprising an alarm unit electrically connected to the control unit, wherein the alarm unit is a buzzer and/or an LED light, and wherein the alarm unit is configured to issue a warning when the voltage value is lower than a predetermined value.

19. The cableway system according to claim 17, wherein the power detection unit is a battery voltage detector, the control unit is a single chip microcomputer, the charging rail is made of brass, and the positioning unit is a GPS module, or a combination of an RFID chip and a tag reader/writer, or a combination of a laser sensor or an infrared sensor.

20. The cableway system according to claim 19, wherein the positioning unit is a combination of an RFID chip disposed above the tower and a tag reader disposed on the shuttle robot for reading and writing the positioning information on the RFID chip, and the tag reader transmits the reading and writing of the positioning information to the control unit, and the control unit outputs a control signal to the second driving device.

21. Cableway system according to claim 16 characterized in that the charged rail is provided at both ends with inclined guide plates, the angle of inclination of which is such that

22. The ropeway system of claim 16 wherein a fifth resilient member is disposed within the brush, wherein the fifth resilient member is compressed when the brush is engaged with the charging rail, and wherein the fifth resilient member is reset when the shuttle robot slides along the rail away from the charging rail.