TWI741711B - Overhead hoist transfer system and multi-section overhead hoist transfer device - Google Patents

Abstract

An overhead hoist transfer system and a multi-section overhead hoist transfer device are provided. The multi-section overhead hoist transfer device includes M trolleys, M-1 connecting components, a driving component, a power supply component, and at least one grabbing component. M is a positive integer equal to or greater than 2. Any two of the M trolleys adjacent to each other are connected through one of the M-1 connecting components. In the M trolleys, one of the M trolleys is defined as an active trolley, and the others trolleys are each defined as a passive trolley. The driving component is disposed on the active trolley, and the driving component drives the active trolley to drag the passive trolleys to move. The power supply component is disposed on one of the M trolleys and electrically connected to the drive component. The at least one grabbing component is disposed on one of the passive trolleys, and can grab a target away from the corresponding passive trolley. Accordingly, the overall height of the multi-section overhead hoist transfer device can be effectively reduced, and the handling capacity of the multi-section overhead hoist transfer device can be increased.

Description

Suspended transport system and multi-section transport device

The invention relates to a conveying system and a conveying device, in particular to a suspended conveying system and a multi-section conveying device.

At present, in order to effectively manage goods and save handling time, most factories will install existing handling systems in the factories. Specifically, the existing conveying system includes a rail and a conveying device, the rail is installed on the ceiling of the factory building, the conveying device is arranged on the rail, and the conveying device can move along the rail for conveyance.

However, the structure of the conveying device of the existing conveying system is designed to be equipped with power supply parts, driving parts, and grasping components on the same trolley, so as to achieve the purpose of movement and grasping. However, this design leads to the transportation The overall volume of the device is too large, especially the height.

In order to ensure that the shortest distance between the handling device and the ground in the factory building does not affect the equipment on the ground and complies with safety regulations, the factory buildings are mostly rebuilt or replaced with high-rise buildings to solve this problem, but this method Not only the cost is high, but it also causes the plant to stop operating.

Therefore, the inventor believes that the above-mentioned shortcomings can be improved, and with great concentration of research and the application of scientific principles, we finally propose an invention with reasonable design and effective improvement of the above-mentioned shortcomings.

The technical problem to be solved by the present invention is to provide a suspended transport system and a multi-section transport device in view of the shortcomings of the prior art, which can effectively improve the defects that may occur in the existing transport system.

The embodiment of the present invention discloses a suspended conveying system suitable for a space. The suspended conveying system includes: a rail for suspending in the space; and a multi-section conveying device arranged on the rail, The multi-section conveying device can move along the track, the multi-section conveying device includes: M trolleys and M-1 connecting components, M of the trolleys are arranged on the track, adjacent A connecting component is arranged between any two of the trolleys; among the M trolleys, one of the trolleys is defined as an active trolley, and the M-1 trolleys are each defined as a passive trolley; Wherein, M is a positive integer not less than 2; a driving component is arranged on the active trolley, and the driving component drives the active trolley to drive the M-1 passive trolleys to move along the track; a power supply component , Installed on one of the trolleys, the power supply component is electrically connected to the drive component; and at least one grabbing component, installed on one of the passive trolleys, at least one grabbing component can be in a retracted position And a grasping position reciprocatingly; when at least one of the grasping components is located in the retracted position, at least one of the grasping components is fixed to the corresponding passive trolley; when at least one of the grasping components When in the grasping position, at least one of the grasping components is far away from the corresponding passive trolley and can grasp a target in the space.

The embodiment of the present invention additionally discloses a multi-section conveying device, which is suitable for installation on a rail suspended in a space, the multi-section conveying device can move along the track, and the multi-section conveying device includes : M trolleys and M-1 connecting assemblies, M said trolleys are arranged on said track, and one said connecting assembly is arranged between any two adjacent trolleys; among M said trolleys, One of the trolleys is defined as an active trolley, and M-1 of the trolleys are each defined as a passive trolley; wherein, M is a positive integer not less than 2; a driving component is arranged on the active trolley, and the The driving component drives the active trolley to drive the M-1 passive trolleys to move along the track; a power supply component is arranged on one of the trolleys, and the power supply component is electrically connected to the driving component; and at least A grasping component is arranged on one of the passive trolleys, at least one of the grasping components can reciprocate between a retracted position and a grasping position; when at least one of the grasping components is located in the retracted position , At least one of the grasping components is fixed on the corresponding passive trolley; when at least one of the grasping components is located at the grasping position, at least one of the grasping components is far away from the corresponding passive trolley and can Grab a target in the space.

In summary, in the suspended transport system and the multi-section transport device disclosed in the embodiments of the present invention, the plurality of trolleys of the multi-section transport device are respectively provided with the drive assembly and the power supply assembly , And the design of at least one of the grasping components, so that the trolley (the active trolley) provided with the drive component can drive the other trolleys (the passive trolley) to move along the track, thereby greatly Reduce the overall height of the suspended handling system. According to this, users can install the suspended handling system in the space to achieve movement and The purpose of crawling.

In order to further understand the features and technical content of the present invention, please refer to the following detailed description and drawings about the present invention. However, the provided drawings are only for reference and description, and are not used to limit the present invention.

The following is a specific embodiment to illustrate the implementation of the "suspended transport system and multi-section transport device" disclosed in the present invention. Those skilled in the art can understand the advantages and effects of the present invention from the content disclosed in this specification. The present invention can be implemented or applied through other different specific embodiments, and various details in this specification can also be based on different viewpoints and applications, and various modifications and changes can be made without departing from the concept of the present invention. In addition, the drawings of the present invention are merely schematic illustrations, and are not drawn according to actual dimensions, and are stated in advance. The following embodiments will further describe the related technical content of the present invention in detail, but the disclosed content is not intended to limit the protection scope of the present invention.

It should be understood that although terms such as "first", "second", and "third" may be used herein to describe various elements or signals, these elements or signals should not be limited by these terms. These terms are mainly used to distinguish one element from another, or one signal from another signal. In addition, the term "or" used in this document may include any one or a combination of more of the associated listed items depending on the actual situation.

The present invention discloses a suspended transport system 100. Figures 1 to 10 show various embodiments based on the spirit of the present invention. First, the spirit of the present invention will be explained below. The suspended conveying system 100 includes a rail 1 and a multi-section conveying device 2. The suspended conveying system 100 is suspended in a space (such as a factory building, a warehouse, etc.) through the rail 1, and the plurality of The articulated conveying device 2 can move along the track 1. From another perspective, any handling system that is not suspended in a space is not the suspended handling system 100 referred to in the present invention.

It should be noted that the above-mentioned rail 1 and the multi-section conveying device 2 are collectively defined as the suspended conveying system 100 in this embodiment. However, the present invention is not limited to this. For example, the multi-section conveying device 2 can also be used alone (for example, sold) or used with other components. The structure of each component of the suspended conveying system 100 will be separately introduced below, and the connection relationship between the various components of the suspended conveying system 100 will be explained in a timely manner.

The track 1 is used to suspend in the space. The multi-section conveying device 2 is arranged on the rail 1, and the multi-section conveying device 2 can move along the rail 1. The multi-section conveying device 2 includes M trolleys 21, M-1 connecting components 22, a driving component 23, a power supply component 24, and at least one grabbing component 25, where M is a positive integer not less than 2. .

The M trolleys 21 are arranged on the track 1, and any two adjacent trolleys 21 are connected by one connecting assembly 22. Among the M trolleys 21, one of the trolleys 21 is defined as an active trolley 21A, and M-1 of the trolleys 21 are respectively defined as a passive trolley 21B. The first trolley 21 of the M trolleys 21 along the moving direction of the track 1 is the active trolley 21A, and the other M-1 trolleys 21 are the passive trolleys 21B.

The driving assembly 23 is arranged on the active trolley 21A, and the driving assembly 23 drives the active trolley 21A to drive the M-1 passive trolleys 21B to move along the track 1. The power supply component 24 is arranged on one of the trolleys 21, and the power supply component 24 is electrically connected to the driving component 23. In other words, the power supply assembly 24 is not limited to being installed on the active trolley 21A or any one of the passive trolleys 21B.

At least one of the grasping components 25 is set on one of the passive trolleys 21B, and at least one of the grasping components 25 can be in a retracted position LA (as shown in FIG. 4) and a grasping position LB (as shown in FIG. 5). Show) reciprocating movement between. When at least one of the grasping components 25 is located at the retracted position LA, at least one of the grasping components 25 is fixed on the corresponding passive trolley 21B. When at least one of the grasping components 25 is located at the grasping position LB, at least one of the grasping components 25 is far away from the corresponding passive trolley 21B and can grasp a target G in the space.

Based on the above-mentioned inventive spirit, the present invention may have many embodiments. For example, when M is 2, the multi-section transport device 2 has one active trolley 21A and one passive trolley 21B; or when M is At 3 o'clock, the multi-section conveying device 2 has one active trolley 21A and two passive trolleys 21B. The following provides descriptions for three feasible embodiments.

[First Embodiment]

Referring to FIGS. 1 to 7, the first embodiment of the present invention provides a suspended transport system 100 including a rail 1 and a multi-section transport device 2 arranged on the rail 1. The track 1 is used to hang on a ceiling W of the space. In detail, as shown in FIG. 3, the rail 1 can be suspended from the ceiling W by a plurality of fixing members 3, and there is a predetermined height WA between the rail 1 and the ceiling W. It should be noted that, for the convenience of description, a plurality of the fixing members 3 are only shown in FIG. 3.

As shown in FIGS. 1 to 3, the track 1 has at least one straight section 11 and at least one turning section 12, and one end of the at least one turning section 12 is provided with a turning mark unit 121. Specifically, the track 1 has two straight sections 11 and one turning section 12 in this embodiment. The straight section 11 is provided with a plurality of position marking units 111 in this embodiment, and Both ends of the turning section 12 are respectively provided with one turning marking unit 121, a plurality of the position marking units 111 and two turning marking units 121 are marking brackets in this embodiment, but the present invention is not limited In this example. For example, the multiple position marking units 111 and the two turn marking units 121 may also be marking tags.

As shown in FIGS. 1, 4 and 6, the multi-section conveying device 2 is arranged on the rail 1, and the multi-section conveying device 2 can move along the rail 1. Specifically, when the multi-section conveying device 2 is arranged on the rail 1, the upper part of the multi-section conveying device 2 is located within the predetermined height WA (as shown in FIG. 3), and the lower part Part of the multi-section conveying device 2 is located below the rail 1. The multi-section conveying device 2 has two trolleys 21, a connecting component 22, a driving component 23, a power supply component 24, and a grabbing component 25 in this embodiment. That is, M is 2 in this embodiment.

The two trolleys 21 are connected by the connecting assembly 22. The connecting assembly 22 has two pivoting units 221 in this embodiment, and the two pivoting units 221 are respectively formed by pivoting posts in this embodiment. And pivot rods, and one of the pivot units 221 is pivotally connected between the top surfaces of the two trolleys 21, and the other pivot unit 221 is pivotally connected to the bottom surfaces of the two trolleys 21 And the positions of the two pivoting units 221 are approximately symmetrical, but the present invention is not limited to what is described in this embodiment. For example, the connecting assembly 22 may also be only a single pivoting unit 221.

Further, one of the trolleys 21 is defined as an active trolley 21A, and the other trolley 21 is defined as a passive trolley 21B, and the active trolley 21A can drive the passive trolley 21B to move along the track 1. In other words, the first trolley 21 of the two trolleys 21 along the moving direction of the track 1 is the active trolley 21A, and the second trolley 21 is the passive trolley 21B.

The active trolley 21A is provided with the driving assembly 23, the power supply assembly 24, and an identification unit 26 in this embodiment. The driving assembly 23 has at least two driving wheels 231 and a driving motor (not shown in the figure) in this embodiment. The driving motors are arranged in the driving trolley 21A, and at least two driving wheels 231 is arranged on both sides of the moving direction of the driving trolley 21A and is arranged on the top surface of the track 1. The driving motor can drive at least two driving wheels 231 to drive the driving wheel along the track 1. The trolley 21A moves, for example, to advance or retreat along the track 1.

The power supply component 24 is a continuous battery in this embodiment. The power supply component 24 is electrically connected to the driving component 23 and can provide the driving motor power of the driving component 23 so that the active trolley 21A can The passive trolley 21B is driven to move along the track 1, but the present invention is not limited to what is described in this embodiment. For example, in other unillustrated embodiments of the present invention, the power supply component 24 may also be a collector shoe, and the drive component 23 can obtain electric energy through the collector shoe.

1 and 2, the identification unit 26 is electrically connected to the drive assembly 23, and the identification unit 26 can identify a plurality of the position marking units 111 and two of the position marking units 111 on the track 1 Turn marking unit 121. In detail, when the active trolley 21A moves along the track 1, the identification unit 26 confirms the current position of the active trolley 21A by identifying a plurality of the position marking units 111. When the recognition unit 26 recognizes the turn marking unit 121, the recognition unit 26 commands the drive motor of the drive assembly 23 to drive at least two of the driving wheels 231 through the rotational speed difference between each other. The active trolley 21A drives the passive trolley 21B to turn along the turning section 12 of the track 1 (as shown in FIGS. 6 and 7 ).

The passive trolley 21B is provided with the grasping assembly 25 and at least two driven wheels 28 in this embodiment. Specifically, at least two of the driven runners 28 are respectively arranged on both sides of the moving direction of the corresponding passive trolley 21B and arranged on the top surface of the track 1, and the passive trolley 21B can pass at least two Each of the driven wheels 28 is driven.

As shown in FIG. 4, the grabbing assembly 25 is arranged on a side of the passive trolley 21B away from the top surface of the track 1, and the height of the grabbing assembly 25 is lower than the bottom surface of the track 1. That is to say, when the grasping assembly 25 is located at the retracted position LA, the grasping assembly 25 will be fixed to the passive trolley 21B and located on the lower side of the track 1. As shown in FIG. 5, when the grasping assembly 25 is located at the grasping position LB, the grasping assembly 25 is far away from the corresponding passive trolley 21B and can grasp the target G in the space. . From another perspective, the grasping assembly 25 is a structure that can grasp objects, and is not limited to structures such as a claw body or a basket body.

[Second Embodiment]

As shown in FIG. 8 and FIG. 9, it is the second embodiment of the present invention. This embodiment is similar to the above-mentioned first embodiment. The similarities between the two embodiments will not be repeated here. The main difference of the above-mentioned first embodiment is that: M is a positive integer not less than 3 in this embodiment, and the number of at least one of the grabbing components 25 is M-2, and M-2 grabbing components 25 are respectively arranged on the M-2 passive trolleys 21B between the active trolley 21A and the passive trolley farthest from the active trolley 21A. For the convenience of description, M is 3 for description below.

The multi-section conveying device 2 has three trolleys 21, two connecting components 22, a driving component 23, a power supply component 24, and a grasping component 25 in this embodiment. The first trolley 21 of the three trolleys 21 along the moving direction of the track is the active trolley 21A, and the second trolley 21 and the third trolley 21 are defined as a first trolley in sequence. A passive trolley 21B1 and a second passive trolley 21B2. The active trolley 21A is provided with the drive assembly 23, the first passive trolley 21B1 is provided with the grasping assembly 25, and the second passive trolley 21B2 is provided with the power supply assembly 24.

Further, as shown in FIG. 8, the active trolley 21A is on the side away from the top surface of the rail 1 and the second passive trolley 21B2 is on the side away from the top surface of the rail 1. A retaining wall 27 is respectively formed downward, and the two retaining walls 27 jointly form an anti-collision space SP. In other words, the active trolley 21A and the passive trolley 21B furthest away from the active trolley 21A each have the retaining wall 27. And when the grasping assembly 25 is located at the retracted position LA, the grasping assembly 25 and the target object G grasped by the grasping assembly 25 can be accommodated in the collision avoidance space SP.

Preferably, each of the two retaining walls 27 is further provided with an anti-collision unit 271, each of the anti-collision units 271 is electrically connected to the driving assembly 23, and each of the anti-collision units 271 in this embodiment It is an image recognition device and can obtain the corresponding environmental information around the retaining wall 27, and then interpret the environmental information to confirm whether the corresponding retaining wall 27 in movement will collide with an environmental object in the space (Not shown in the figure), but the present invention is not limited to what is contained in this embodiment. For example, each of the collision avoidance units 271 may also be an infrared environment sensing device or a radar sensing device. When one of the anti-collision units 271 judges that the corresponding barrier wall 27 will collide with the environmental object, the anti-collision unit 271 commands the driving assembly 23 to stop driving the active trolley 21A. In other words, the multi-section conveying device 2 can pass through the two retaining walls 27 and the two anti-collision units 271 to ensure that the grasping assembly 25 and the target object G are not affected by the environmental objects. Damage caused by impact.

The two pivoting units 221 of any one of the connecting assemblies 22 are provided on the top and bottom surfaces of the two adjacent trolleys 21, and the positions of the two pivoting units 221 are symmetrical to each other, so that the three The two trolleys 21 are connected to each other.

[Third Embodiment]

As shown in FIG. 10, it is the third embodiment of the present invention. This embodiment is similar to the above-mentioned second embodiment. The similarities between the two embodiments will not be repeated. The main difference between the embodiments is: M is 4 in this embodiment.

That is to say, the multi-section conveying device 2 has four trolleys 21, three connecting components 22, a driving component 23, a power supply component 24, and two grasping components 25 in this embodiment. The first trolley 21 of the four trolleys 21 along the movement direction of the track is the active trolley 21A, the second trolley 21, the third trolley 21, and the fourth trolley 21A. The trolley 21 is sequentially defined as a first passive trolley 21B1, a second passive trolley 21B2, and a third passive trolley 21B3. The active trolley 21A is provided with the drive assembly 23, the first passive trolley 21B1 and the second passive trolley 21B2 are provided with the grasping assembly 25, and the third passive trolley 21B3 is provided with the power supply assembly twenty four. The active trolley 21A and the third passive trolley 21B3 are respectively provided with the retaining wall 27 and the collision avoidance unit 271.

From the above first to third embodiments, it can be known that the suspended transport system 100 and the multi-section transport device 2 of the present invention can adjust the trolley of the multi-section transport device 2 according to the needs of the designer. 21 Number, location, and components installed on the trolley 21. For example, in other embodiments not shown in the present invention, the multi-section conveying device 2 has five trolleys 21, and in the moving direction of the track 1, the first trolley 21 is The active trolley 21A is provided with the retaining wall 27, the second trolley 21 is provided with the retaining wall 27, the third trolley 21 is provided with the grasping assembly 25, and the fourth trolley 21 is provided with another said gripping assembly 25.

[Technical Effects of Embodiments of the Invention]

In summary, in the suspended transport system 100 and the multi-section transport device 2 disclosed in the embodiment of the present invention, the plurality of trolleys 21 of the multi-section transport device 2 are respectively provided with the drive assembly 23 The design of the power supply component 24 and at least one of the grabbing components 25 enables the trolley 21 (the active trolley 21A) provided with the drive component 23 to drive the other trolleys 21 (the passive trolley) The trolley 21B) moves along the track 1, thereby greatly reducing the overall height of the suspended handling system 100. Accordingly, the user can install the suspended handling system 100 in the space without changing the existing space (for example: factory building), and on the basis of complying with safety regulations and without affecting the ground equipment. And the purpose of crawling.

The content disclosed above is only the preferred and feasible embodiments of the present invention, and does not limit the scope of the patent application of the present invention. Therefore, all equivalent technical changes made using the description and schematic content of the present invention are included in the application of the present invention. Within the scope of the patent.

100: Suspended handling system 1: track 11: Straight section 111: Position Marking Unit 12: Turning section 121: Turn Marking Unit 2: Multi-section conveying device 21: Trolley 21A: Active trolley 21B: Passive Trolley 21B1: The first passive car 21B2: The second passive trolley 21B3: The third passive car 22: Connecting components 221: pivot unit 23: drive components 231: Active Runner 24: power supply components 25: Grab components 26: Identification Unit 27: retaining wall 271: Anti-collision unit 28: driven runner 3: fixed parts LA: Regain position LB: Grab position SP: Anti-collision space W: Ceiling WA: predetermined height G: target

Fig. 1 is a three-dimensional schematic diagram of a suspended transport system according to a first embodiment of the present invention.

Fig. 2 is a three-dimensional schematic diagram of the suspended transport system according to the first embodiment of the present invention from another perspective.

Fig. 3 is a schematic diagram of the suspended transport system of the first embodiment of the present invention when it is installed on the ceiling.

Fig. 4 is a schematic diagram of the state when the grasping component of the suspended transport system according to the first embodiment of the present invention is in the retracted position.

Fig. 5 is a schematic diagram of the state when the grasping component of the suspended transport system according to the first embodiment of the present invention is located at the grasping position.

Fig. 6 is a schematic top view of the suspended transport system according to the first embodiment of the present invention.

Fig. 7 is a schematic top view of the multi-section conveying device of the suspended conveying system according to the first embodiment of the present invention when turning.

Fig. 8 is a schematic side view of a suspended transport system according to a second embodiment of the present invention.

Fig. 9 is a schematic top view of the multi-section conveying device of the suspended conveying system according to the second embodiment of the present invention when turning.

Fig. 10 is a schematic side view of a suspended transport system according to a third embodiment of the present invention.

100: Suspended handling system

1: track

11: Straight section

111: Position Marking Unit

12: Turning section

121: Turn Marking Unit

2: Multi-section conveying device

21: Trolley

21A: Active trolley

21B: Passive Trolley

22: Connecting components

221: pivot unit

23: drive components

231: Active Runner

24: power supply components

25: Grab components

26: Identification Unit

28: driven runner

Claims (12)

A suspended conveying system is suitable for a space. The suspended conveying system includes: a rail for suspending in the space; and a multi-section conveying device arranged on the rail, the multi-section conveying device The conveying device can move along the track, and the multi-section conveying device includes: M trolleys and M-1 connecting components, M of the trolleys are arranged on the track, and any two adjacent ones The trolleys are connected by one of the connecting components; the first trolley of the M trolleys along the moving direction of the track is defined as an active trolley, and the other M-1 trolleys are each defined as a passive trolley Trolley; wherein M is a positive integer not less than 3; wherein the active trolley is on the side far from the top surface of the track and the passive trolley farthest from the active trolley is on the side far from the track A retaining wall is respectively formed downward on one side of the top surface, and the two retaining walls together form an anti-collision space; a drive assembly is arranged on the active trolley, and the drive assembly drives the active trolley to drive M-1 One of the passive trolleys moves along the track; a power supply component arranged on one of the trolleys, and the power supply component is electrically connected to the driving component; and at least one grabbing component is arranged on one of the trolleys In a passive trolley, at least one of the grasping components can reciprocate between a retracted position and a grasping position; when at least one of the grasping components is located in the grasping position, at least one of the grasping components is far away from the corresponding The passive trolley can grasp a target in the space; when at least one of the grasping components is located in the retracted position, at least one of the grasping components is fixed to the corresponding passive On a trolley, and at least one of the grabbing components and the target object grabbed by at least one of the grabbing components can be accommodated in the anti-collision space; wherein, two retaining walls are respectively provided with an anti-collision space Each of the anti-collision units is electrically connected to the drive assembly, and each of the anti-collision units can obtain an environmental information around the corresponding retaining wall, and then interpret the environmental information to Confirm whether the corresponding retaining wall in the movement will collide with an environmental object in the space; when one of the anti-collision units determines that the corresponding retaining wall will collide with the environmental object, the anti-collision unit commands the The driving assembly stops driving the active trolley. The suspended handling system according to claim 1, wherein the number of at least one of the grasping components is M-2, and M-2 of the grasping components are respectively arranged on the active trolley and the farthest away from the On the M-2 passive trolleys between the passive trolleys of the active trolley. The suspended transport system according to claim 1, wherein the track has at least one straight section and at least one turning section, and one end of the at least one turning section is provided with a turning mark unit; the active The trolley is provided with an identification unit, the identification unit is electrically connected to the drive assembly, and the identification unit can command the drive assembly to drive the active trolley to turn and move along the turning section after identifying the turn marking unit. The suspended transport system according to claim 1, wherein the drive assembly has at least two active runners, at least two of the active runners are arranged on both sides of the moving direction of the active trolley, and at least two The active runner can drive the active trolley to move along the track; at least two of the active runners can make the active trolley turn along the track through the rotation speed difference between each other. The suspended handling system according to claim 4, wherein each of the passive trolleys has at least two driven runners, and at least two of the driven runners are respectively arranged in the corresponding moving directions of the passive trolleys At least two driven runners of each passive trolley are arranged on the top surface of the track; at least two active runners of the drive assembly are arranged on the track Top surface. The suspended handling system according to claim 1, wherein each of the connecting components has two pivoting units; among the two adjacent trolleys, one of the pivoting units is pivotally connected to two Between the top surfaces of the trolley, the other pivot unit is pivotally connected between the bottom surfaces of the two trolleys, and the positions of the two pivot units are symmetrical to each other. The suspended handling system according to claim 1, wherein the height position of at least one of the grabbing components located on any one of the passive trolleys is lower than the height position of the bottom surface of the rail. A multi-section conveying device suitable for installation on a track suspended in a space, the multi-section conveying device can move along the track, and the multi-section conveying device includes: M trolleys and M -1 connecting assembly, M of the trolleys are arranged on the track, and any two adjacent trolleys are connected by one of the connecting assemblies; the first of the M trolleys along the moving direction of the track Each of the trolleys is defined as an active trolley, and the other M-1 of the trolleys are each defined as a passive trolley; where M is a positive integer not less than 3; wherein, the active trolley is located far away from the track The side of the top surface and the one farthest from the active trolley A retaining wall is respectively formed downwards on the side of the passive trolley away from the top surface of the track, and the two retaining walls together form an anti-collision space; a drive assembly is arranged on the active trolley, so The driving component drives the active trolley to drive the M-1 passive trolleys to move along the track; a power supply component is arranged on one of the trolleys, and the power supply component is electrically connected to the driving component; and At least one grasping component is arranged on one of the passive trolleys, at least one of the grasping components can reciprocate between a retracted position and a grasping position; when at least one of the grasping components is located in the grasping position Position, at least one of the grasping components is far away from the corresponding passive trolley and can grasp a target in the space; when at least one of the grasping components is in the retracted position, at least one of the grasping components The grabbing component is fixed on the corresponding passive trolley, and at least one grabbing component and the target object grabbed by at least one grabbing component can be accommodated in the collision avoidance space; wherein, two Each of the retaining walls is provided with an anti-collision unit, each of the anti-collision units is electrically connected to the drive assembly, and each of the anti-collision units can obtain environmental information around the corresponding retaining wall Then, the environmental information is judged to confirm whether the corresponding retaining wall in the movement will collide with an environmental object in the space; when one of the anti-collision units judges that the corresponding retaining wall will collide with the environmental object At this time, the anti-collision unit commands the drive assembly to stop driving the active trolley. The multi-section conveying device according to claim 8, wherein the number of at least one of the grasping components is M-2, and the M-2 grasping components are respectively arranged on the active trolley and the furthest away On M-2 of the passive trolleys between the active trolleys and the passive trolleys. The multi-section conveying device according to claim 8, wherein the drive assembly has at least two driving wheels, at least two of the driving wheels are arranged on both sides of the moving direction of the driving trolley, and at least two The two active wheels can drive the active trolley to move along the track; at least two of the active wheels can make the active trolley turn along the track through the difference in rotational speed of each other. The multi-section conveying device according to claim 10, wherein each of the passive trolleys has at least two driven wheels, and at least two of the driven wheels are respectively arranged in the movement of the corresponding passive trolley. On both sides of the direction; at least two of the driven runners of each passive trolley are arranged on the top surface of the track; at least two of the active runners of the drive assembly are arranged on all of the tracks述顶面。 Said the top surface. The multi-section transport device according to claim 8, wherein each of the connecting components has two pivot units; in two adjacent trolleys, one of the pivot units is pivotally connected to two Between the top surfaces of the two trolleys, the other pivot unit is pivotally connected between the bottom surfaces of the two trolleys, and the positions of the two pivot units are symmetrical to each other.

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