CN120191644A

CN120191644A - A shuttle robot system and control method

Info

Publication number: CN120191644A
Application number: CN202411731608.1A
Authority: CN
Inventors: 请求不公布姓名
Original assignee: Jiangsu Huazhang Logistics Technology Co ltd
Current assignee: Jiangsu Huazhang Logistics Technology Co ltd
Priority date: 2023-12-21
Filing date: 2024-11-29
Publication date: 2025-06-24
Also published as: CN117699302A; WO2025129881A1

Abstract

The application provides a shuttle robot system and a control method, wherein the shuttle robot system comprises a shuttle robot, the shuttle robot comprises side guide wheel groups and branch guide wheel groups, the side guide wheel groups are used for assisting in running on rails, the side guide wheel groups can rotate up and down and/or move in and out relative to a chassis of the shuttle robot, the positions of the side guide wheel groups are adjusted according to the types of the rails and are used for adapting the types of the rails to conduct rail walking guidance on the shuttle robot, the branch guide wheel groups can vertically move up and down relative to the chassis of the shuttle robot and are used for lowering the branch guide wheel groups corresponding to the branch sides or the combining sides when the rails are branched or combined, and branching or combining of the branch sides is achieved. Therefore, the shuttle robot solves the problem that the existing trolley is poor in applicability to the track type.

Description

Shuttle robot system and control method

The present application claims priority to a shuttle robot and method of use, filed in the national intellectual property agency at 2023, 12, 21, with application number CN202311769573.6, the disclosure of which is incorporated herein by reference in its entirety.

Technical Field

The application relates to the technical field of logistics conveying robots, in particular to a shuttle robot system and a control method.

Background

The shuttle robot is widely applied in the field of warehouse logistics conveying, can realize rapid conveying and sorting of materials, and generally in a warehouse logistics system, different shuttle robots are used for conveying the materials on the ground and rails, and the materials are required to be transported at the butt joint positions, so that the overall conveying efficiency is influenced, and the overall conveying and sorting efficiency is influenced.

When the shuttle robot runs on the track, a trolley and the track are provided in the prior art, and a shunt wheel and a guide wheel are arranged on the trolley, wherein the shunt wheel and the guide wheel are arranged on two sides of the trolley, and are combined through lifting of the shunt wheel, and the guide wheel is matched with the track structure, so that the trolley can run along the track stably.

However, the heavy track structure and the trolley guiding and branching structure of the existing system need to be matched, different trolley branching wheels and guiding wheel structures are suitable for different track structures, so that the applicability of the existing trolley to track types is poor, in addition, the existing trolley and the track structure branching can only be divided into two paths, however, as the efficiency of logistics conveying robots and the requirements on site sites are higher and higher, for example, the number of layers of transportation are overlapped, the trolley on the layer needs to climb to the previous layer and descend to the next layer to operate on the layer, or the libraries are unitized for classification and scheduling, the connection between the unitized libraries and the like needs to be realized, and therefore, the trolley can only run on the tracks on the two branches and cannot meet the requirements.

Disclosure of Invention

The application provides a shuttle robot system and a rail changing method, which can be used for solving the problem that the existing trolley is poor in applicability to rail types.

A first aspect of the present application provides a shuttle robot system, comprising a shuttle robot,

The shuttle robot comprises a side guide wheel set and a shunt wheel set, wherein the side guide wheel set is used for assisting in running on a track, the side guide wheel set can rotate up and down and/or move inside and outside relative to a chassis of the shuttle robot, the position of the side guide wheel set is adjusted according to the type of the track, and the side guide wheel set is used for adapting the type of the track to guide the running of the track on the shuttle robot;

The branching wheel set can vertically move up and down relative to the chassis of the shuttle robot and is used for lowering the branching wheel set corresponding to the branching side or the combining side when the track branches or combines, so as to realize branching of the branching side or combining of the combining side.

Further, the side guide wheel group can rotate up and down and/or move in and out relative to the chassis of the shuttle robot, including:

the side guide wheel set comprises side guide wheels, a connecting rod, a telescopic mechanism and a lifting mechanism, wherein the connecting rod comprises a fixed rod and a rotating rod, one end of the fixed rod is used for connecting the side guide wheels, and the other end of the fixed rod is rotationally connected with the rotating rod;

the rotating fulcrum of the rotating rod adopts a rotatable shaft sleeve, and a pin shaft, a rotating shaft or a universal joint device is arranged on the outer side of the shaft sleeve;

The telescopic mechanism is connected to one end far away from the connection of the rotating rod and the fixed rod, and is used for enabling the rotating rod to move in the shaft sleeve so as to enable the side guide wheel group to move inside and outside the chassis;

The lifting mechanism is used for driving one end of the rotating rod, which is connected with the fixed rod, and the telescopic mechanism rotates around the rotating pivot.

Further, the lifting mechanism adopts an electric cylinder, an electric hydraulic rod and a cam lifting or worm lifting device;

the telescopic mechanism adopts an electric cylinder, an electric hydraulic rod, a cam lifting device or a worm lifting device.

Further, the adjusting the position of the side guide wheel set according to the track type includes:

when the height of the side flanges of the track exceeds the height from the chassis to the walking track surface and the side flanges of the track are inwards bent inclined planes, the side guide wheels of the side guide wheel sets are controlled to be abutted with the inner side upper edge inclined planes;

when the height of the side flanges of the rail exceeds the height from the chassis to the walking rail surface and the side flanges of the rail are bent inwards by 90 degrees, the side guide wheels of the side guide wheel sets are controlled to be abutted with the inner side surfaces of the middle parts of the side flanges of the rail;

When the height of the side flanges of the rail is lower than the height from the chassis to the walking rail surface, and the upper edges of the side flanges of the rail are not bent, the side guide wheels of the side guide wheel sets are controlled to rotate to be abutted with the inner side walls of the rail.

Further, the track comprises a branching platform, a combining end of the branching platform is used for connecting the section track, and a branching end of the branching platform is provided with at least two rail branches for connecting the section track.

Further, two track branches are arranged at the branching end of the branching platform, and each track branch comprises a straight branching track and a branching track;

The height of the side flanges of the straight shunt rail and the height of the side flanges of the shunt rail are both higher than the height from the chassis to the walking rail surface;

The side flanges of the straight shunt rail and the side flanges of the shunt rail are respectively provided with an inwards bent inclined plane or inwards bent 90 degrees.

Further, when the side edge of the straight-going branching track and the side edge of the branching track are both bent inwards by 90 degrees, the side face of the chassis is further provided with a guide wheel along the vertical direction, the guide wheel moves up and down along the vertical direction under the action of a spring, and the guide wheel is abutted with the upper edge of the side edge bent by 90 degrees.

Further, a three-way track shunt is arranged at the shunt end of the shunt platform, and comprises a right shunt track, a left shunt track and a straight-line shunt track;

The height of the rail side flange of the left branching rail and the height of the rail side flange of the right branching rail exceed the height from the chassis to the walking rail surface, and the upper edge of the side flange of the left branching rail and the upper edge of the side flange of the right branching rail are respectively bent inwards by an inclined plane or inwards by 90 degrees;

The height of the rail side flange of the straight-running branching rail is lower than the height from the chassis to the walking rail surface, and the rail side flange of the straight-running branching rail is provided with a gap for the left branching walking and the right branching walking to pass through by the walking wheel set of the shuttle robot.

Further, the right branch track and the left branch track are connected with the straight-going branch track at a combined track end to obtain a combined track interface, and the shuttle robot enters or exits the combined track section track through the combined track interface.

Further, the straight-going branching track comprises a straight-going walking track, and a steering platform for steering and walking by the walking wheel set when the non-straight-going branching track walks is arranged in the straight-going walking track.

Further, the shuttle robot is further provided with steering wheels, and when the robot moves on the ground, the steering wheels and the traveling wheel groups are simultaneously contacted with the ground;

The steering wheel is arranged below the robot chassis along the diagonal direction.

The steering platform is provided with a groove for limiting the steering wheel to rotate, and is used for assisting in keeping the shuttle robot to walk straight when the shuttle robot branches straight.

Further, transition plates are arranged at two ends of the groove and used for enabling the steering wheel to stably drive in or drive out of the groove.

Further, the depth of the groove is 1-3mm, and the edge of the groove is a circular arc chamfer.

Further, the straight shunt rail is curved downward, and the slope of the straight shunt rail is no more than 5%.

Further, the walking wheel sets positioned at the two sides of the chassis are respectively connected with independent power sources for driving, the walking wheel sets are arranged in the middle of the chassis, and the side guide wheel sets and the branching wheel sets are positioned at the front side and the rear side of the walking wheel sets and symmetrically arranged by taking the axis of a rotating shaft of the driving wheel as a center.

Further, the side flanges of the straight-going branching track comprise a first auxiliary straight-going flange and a second auxiliary straight-going flange;

The first auxiliary straight-line flange and the second auxiliary straight-line flange are symmetrical about the center of the straight-line branching track, and the first auxiliary straight-line flange and the second auxiliary straight-line flange are provided with gaps for the traveling wheel groups and the steering wheels to pass through.

Further, guide plates arranged along the steering walking direction are arranged between the gaps of the first auxiliary straight-line flanges and the gaps of the second auxiliary straight-line flanges.

Further, the branching wheel set comprises a branching wheel mounting frame and a lifting rod, and the branching wheel mounting frame vertically lifts along the lifting rod under the action of a power source.

A second aspect of the present application provides a shuttle robot control method applied to any one of the shuttle robot systems provided in the first aspect;

when the type of the track on which the shuttle robot walks is changed, the side guide wheel group is controlled to rotate up and down and/or move in and out, the position of the side guide wheel group is changed, and the shuttle robot walks on different types of tracks is guided, specifically:

If the rail to which the shuttle robot walks is an inclined plane with the side baffle edge bent inwards, controlling the side guide wheel group to rotate up and down and/or move inwards and outwards so that the side guide wheel is abutted with the inner side upper edge inclined plane;

If the track to which the shuttle robot walks is that the upper edge of the side flange is bent inwards by 90 degrees, controlling the side guide wheel group to rotate up and down and/or move inwards and outwards so that the side guide wheel is abutted with the upper edge of the side flange bent by 90 degrees;

If the height of the side flanges of the rails to which the shuttle robot walks is lower than the height of the chassis to the walking rail surface, controlling the side guide wheel group to rotate up and down and/or move in and out so that the side guide wheels are abutted against the inner sides of the side flanges of the rails;

When the shuttle robot needs to split and combine, the split wheel set corresponding to the split side or the combining side is controlled to be lowered, so that the split of the split side or the combining of the combining side is realized.

Further, when the branching end of the branching platform is provided with a three-way track branching;

The shunt control of the shuttle robot is as follows:

when the shuttle robot walks in a branching way, the shuttle robot is controlled to enter the branching platform from the combined track interface, and the positions of the branching wheel set and the side guide wheel set are controlled to realize branching of the shuttle robot, and the specific steps are as follows:

If the shuttle robot walks in a straight-line branching way, controlling the branching wheel sets at two sides of the shuttle robot to rise to a preset high position, controlling the side guide wheel sets at two sides of the shuttle robot to rotate to a preset low position, and controlling the side guide wheel sets at two sides of the shuttle robot to rotate to the preset high position after the shuttle robot passes through the straight-line branching rail;

If the shuttle robot walks in a right branch way, controlling the branch wheel group on the right side of the shuttle robot to descend to a preset low position, and after the right branch of the shuttle robot is completed, controlling the branch wheel group on the right side of the shuttle robot to ascend to a preset high position;

If the shuttle robot walks in a left branch way, controlling the branch wheel group at the left side of the shuttle robot to descend to a preset low position, and after the left branch of the shuttle robot is completed, controlling the branch wheel group at the left side of the shuttle robot to ascend to a preset high position;

When the shuttle robot walks in a combined way, the control is as follows:

the shuttle robot is controlled to enter the branching platform from the corresponding branching section track interface, and the positions of the branching wheel group and the side guide wheel group are controlled to realize the combination of the shuttle robot, and the specific steps are as follows:

If the shuttle robot performs straight-going combined walking, controlling the shunt wheel groups on two sides of the shuttle robot to rise to a preset high position, controlling the side guide wheel groups on two sides of the shuttle robot to rotate to a preset low position, and controlling the side guide wheel groups on two sides of the shuttle robot to rotate to the preset high position after the shuttle robot passes through the straight-going shunt track;

If the shuttle robot walks in a right combining way, controlling the branching wheel set on the right side of the shuttle robot to descend to a preset low position, and after the right combining way of the shuttle robot is completed, controlling the branching wheel set on the right side of the shuttle robot to ascend to a preset high position;

And if the shuttle robot walks in a left combined way, controlling the shunt wheel group at the left side of the shuttle robot to descend to a preset low position, and after the left combined way of the shuttle robot is completed, controlling the shunt wheel group at the left side of the shuttle robot to ascend to a preset high position.

The scheme provided by the application has the following beneficial effects:

1. The side guide wheel group of the shuttle robot can rotate up and down and/or move inside and outside relative to the chassis of the shuttle robot, so that the position of the side guide wheel group is adjusted according to the track type and is used for adapting the track type to guide the track walking of the shuttle robot, and the shuttle robot solves the problem that the existing trolley is poor in applicability to the track type.

2. The rails are formed by metal sheet metal processing, and the shuttle robot integrates power control machinery, so that the shuttle robot system is suitable for various rail structures, and only needs to be changed and matched, and the cost of the shuttle robot system is low and the application range is wide.

3. The shuttle robot disclosed by the application is not only applicable to the existing two-branch track, but also applicable to the three-branch track, wherein in the three-branch track, the height of a side flange of the straight-line branch track is lower than the height from a chassis of the shuttle robot to a walking track surface, a gap for a non-straight-line branch to pass through a walking wheel set of the shuttle robot is formed in the straight-line branch track, and the positions of the side guide wheel set and the branch wheel set are controlled to complete three-branch walking in cooperation with the shuttle robot, so that the problem that the existing trolley can only travel on the two-branch track is solved.

4. The track of the shuttle robot system is of a pure mechanical structure, and the track is free of a track changing structure and is free of control, so that the track changing action is realized only by controlling the shuttle robot, namely the track is of an electrified design, and the shuttle robot system has the advantages of being simple in structure, easy to maintain and the like.

5. The shuttle robot ground shuttle driving mechanism and the track shuttle driving mechanism share the walking wheel set, and the side guide wheel set and the branching wheel set which are used for assisting in running on the track are correspondingly arranged, so that the requirements of ground movement and track movement can be met at the same time, material transfer can be directly carried out without stopping at the junction of the ground and the track, and the efficiency of conveying and sorting is improved.

Drawings

FIG. 1 is a schematic illustration of a shuttle robot of the present application mated with a first rail;

FIG. 2 is an enlarged schematic view of the shuttle robot of the present application mated with a first track;

FIG. 3 is a schematic illustration of the shuttle robot of the present application mated with a second track;

FIG. 4 is an enlarged schematic view of the shuttle robot of the present application mated with a second track;

Fig. 5 is a schematic view of a scene of the shuttle robot of the present application when walking in two-way;

FIG. 6 is a schematic view of the shuttle robot of the present application mated with a third track;

FIG. 7 is a schematic view of the track structure at a three-shunt platform of the present application;

FIG. 8 is a schematic view of the split section track structure of the present application at the junction with a three split platform;

FIG. 9 is a schematic illustration of a three-way platform structure according to the present application;

Fig. 10 is a schematic view of another three-way platform structure of the present application.

1-Road section track combination; 2-shunt platform, 21-combined track interface, 22-right shunt track, 221-right shunt track interface, 222-right shunt track body, 223-right shunt combined interface, 23-left shunt track, 231-left shunt track interface, 232-left shunt track body, 233-left shunt combined interface, 24-straight shunt track, 241-straight walking track, 242-steering platform, 2421-groove, 2422-transition plate, 243-first auxiliary straight walking flange, 2431-first right flange, 2432-second right flange, 2433-third right flange, 2434-fourth right flange, 244-second auxiliary straight walking flange, 2441-first left flange, 2442-second left flange, 2443-third left flange, 2444-fourth left flange; the device comprises a 3-branch section track, a 31-right branch track, a 32-straight-moving branch track and a 33-left branch track, a 4-shuttle robot, a 41-chassis, a 42-walking wheel set, a 43-side guide wheel set, a 431-side guide wheel, a 4311-arc tread, a 432-connecting rod, a 4321-fixed rod, a 4322-rotating rod, a 44-branch wheel set, a 441-branch wheel mounting frame, a 442-lifting rod, a 45-steering wheel and a 46-guide wheel.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the embodiments of the present application will be described in further detail with reference to the accompanying drawings.

The implementation environment described in the embodiments of the present application is for more clearly describing the technical solution of the embodiments of the present application, and does not constitute a limitation on the technical solution provided by the embodiments of the present application, and those skilled in the art can know that the technical solution provided by the embodiments of the present application is equally applicable to similar technical problems in different implementation environments.

The shuttle robot system of the present application will be described first, and for convenience of description, the terms of orientation of the present application are based on the orientation shown in the drawings unless otherwise specified. Referring to fig. 1-10, a schematic diagram of a shuttle robot system according to an embodiment of the present application is shown, and specifically described below:

a shuttle robot system, comprising a shuttle robot 4, the structure of the shuttle robot 4 can refer to the schematic diagrams shown in fig. 1,2,3,4 and 6, and the specific structure comprises a side guide wheel set 43 and a branching wheel set 44 for assisting in running on a track, wherein the side guide wheel set 43 can rotate up and down and/or move in and out relative to a chassis 41 of the shuttle robot 4, i.e. the side guide wheel set 43 can rotate up and down relative to the chassis 41, the side guide wheel set 43 can move in and out relative to the chassis 41, and the side guide wheel set 43 can rotate up and down and move in and out relative to the chassis 41. The side guide wheel group 43 comprises a side guide wheel 431, a connecting rod 432, a telescopic mechanism and a lifting mechanism, wherein the connecting rod 432 comprises a fixing rod 4321 and a rotating rod 4322, one end of the fixing rod 4321 is used for being connected with the side guide wheel 431, the other end of the fixing rod 4321 is rotationally connected with the rotating rod 4322, a rotatable shaft sleeve is adopted as a rotating fulcrum of the rotating rod 4322, a pin shaft, a rotating shaft or a universal joint device is arranged on the outer side of the shaft sleeve, and the pin shaft is preferably matched with the rotating shaft to realize rotation. When the height of the side flanges of the track exceeds the height from the chassis 41 to the track surface, and the side flanges of the track are inclined surfaces which are bent inwards, the side guide wheels 431 of the side guide wheel group 43 are controlled to be abutted against the inner upper edge inclined surfaces, the center lines of the fixing rods 4321 and the rotating rods 4322 are straight lines after the side guide wheels 431 are abutted against the inner upper edge inclined surfaces, and the top points or the upper side surfaces of the arc-shaped tread 4311 of the side guide wheels 431 are abutted against the side flanges of the track. When the side edge of the track is an inward curved slope and the side guide wheel 431 is not abutted against the inner upper edge slope, the side guide wheel 43 is controlled to move inward relative to the chassis 41, so that the side guide wheel 431 is not blocked by the side wall of the track when the side guide wheel 43 moves upward relative to the chassis 41 in the second step, the side guide wheel 43 is controlled to move upward relative to the chassis 41, the vertex tangent line of the arc tread 4311 is basically parallel to or forms a certain angle with the side edge of the track, and finally the side guide wheel 43 is controlled to move outward relative to the chassis 41, so that the vertex or the upper side surface of the arc tread 4311 of the side guide wheel 431 is abutted against the side edge of the track. Preferably, the upper side surface of the arc tread 4311 of the side guide wheel 431 is abutted against the upper edge of the rail side flange, and when one side of the shuttle robot 4 tilts or bounces, the upper side surface of the arc tread 4311 is not easy to slide out of the upper edge of the rail side flange under the action of the tilting moment, so that more stable running of the shuttle robot 4 is ensured.

When the height of the side flanges of the rail exceeds the height from the chassis 41 to the walking rail surface and the upper edges of the side flanges of the rail are bent inwards by 90 degrees, the side guide wheels 431 of the side guide wheel group 43 are controlled to abut against the inner side surfaces of the middle parts of the side flanges of the rail. The specific control method comprises the steps of firstly controlling the side guide wheel group 43 to move inwards relative to the chassis 41 when the side flange edge of the track is bent inwards by 90 degrees and the side guide wheel 431 is not abutted with the inner side surface of the middle part of the side flange of the track, so that the side guide wheel 431 cannot be blocked by the side wall of the track when the side guide wheel group 43 moves upwards or downwards relative to the chassis 41 in the second step, and controlling the side guide wheel group 43 to move upwards relative to the chassis 41 if the side guide wheel group 43 is below the middle part of the side flange of the track and controlling the side guide wheel group 43 to move downwards relative to the chassis 41 if the side guide wheel group 43 is above the middle part of the side flange of the track, so that the top point of the arc tread 4311 is aligned with the inner side surface of the middle part of the side flange of the track, and finally controlling the side guide wheel group 43 to move outwards relative to the chassis 41, so as to realize the top point of the arc tread 4311 of the side guide wheel group 43 is abutted with the inner side surface of the side flange of the track.

When the height of the side flanges of the rail is lower than the height from the chassis 41 to the walking track surface and the upper edges of the side flanges of the rail are not bent, the side guide wheels 431 of the side guide wheel sets 43 are controlled to abut against the inner side surfaces of the side flanges of the rail. The specific control method comprises the steps of firstly controlling the side guide wheel group 43 to move inwards relative to the chassis 41 when the side baffle edge of the track is not bent and the side guide wheel 431 is not abutted against the inner side surface of the side baffle edge of the track, enabling the side guide wheel 431 not to be blocked by the side wall of the track when the side guide wheel group 43 moves upwards or downwards relative to the chassis 41 in the second step, controlling the side guide wheel group 43 to move downwards relative to the chassis 41, enabling the top point of the arc-shaped tread 4311 to be aligned with the inner side surface of the side baffle edge of the track, and finally controlling the side guide wheel group 43 to move outwards relative to the chassis 41, so that the top point of the arc-shaped tread 4311 of the side guide wheel 431 is abutted against the inner side surface of the side baffle edge of the track.

In addition, the telescopic mechanism of the present application is connected to an end far from the rotating rod 4322 and connected to the fixed rod 4321, so as to enable the rotating rod 4322 to move in the shaft sleeve, and enable the side guide wheel set 43 to move inside and outside relative to the chassis 41. Specifically, the shaft sleeve is connected with a support member arranged on the chassis 41 through a movable connection mode such as a pin shaft, a joint bearing and the like, and the connection part of the shaft sleeve and the support member is a rotation pivot. The lifting mechanism is connected to the rotating rod 4322 at a non-rotating fulcrum position, and is used for driving the rotating rod 4322 to rotate around the rotating fulcrum at the end connected to the fixed rod 4321 and the telescopic mechanism, so that when the end connected to the fixed rod 4321 of the rotating rod 4322 rotates upwards around the rotating fulcrum, the side guide wheel 431 connected to the fixed rod 4321 also rotates upwards along with the rotating rod, and when the end connected to the fixed rod 4322 rotates downwards around the rotating fulcrum, the side guide wheel 431 connected to the fixed rod 4321 also rotates downwards along with the rotating rod 4321.

Further, the lifting mechanism adopts an electric cylinder, an electric hydraulic rod and a cam lifting or worm lifting device, for example, when the electric cylinder is adopted, the electric cylinder body is fixed on the chassis 41, a push rod of the electric cylinder is connected with the rotating rod 4322, the action principle of the electric hydraulic rod is consistent with that of the electric cylinder and is not repeated, when the cam lifting device is adopted, the lifting mechanism comprises a cam and a push rod, one section of the push rod is connected with the rotating rod 4322, the other end of the push rod acts with the cam to realize that the rotating rod 4322 rotates around a rotation pivot, and when the worm and the worm are adopted, one end of the worm is connected with the rotating rod 4322, and the other end of the worm is matched with the worm to realize that the worm moves up and down around the rotation pivot, so that the rotating rod 4322 rotates around the rotation pivot. Of course, other lifting mechanisms may be applied to the present shuttle robot system, such as rope lifting devices, pneumatic lifting devices, linkage lifting, etc., and the present application is not limited thereto.

The same telescopic mechanism adopts an electric cylinder, an electric hydraulic rod and a cam lifting or worm lifting device. When the cam lifting device is adopted, a section of the push rod is connected with the rod end of the rotary rod 4322 along the axial direction, the other end of the push rod is in action with the cam, the cam can be connected with the shaft sleeve through a bracket, the rotary rod 4322 can move back and forth along the axial direction of the shaft sleeve under the action of the cam, the side guide wheel group 43 can move back and forth relative to the chassis 41, when the worm wheel worm is adopted, one end of the worm is connected with the rod end of the rotary rod 4322 along the axial direction, the other end of the worm wheel mechanism is in a worm structure in a way of being matched with the worm wheel, or one end of the rotary rod 4322 is processed into a worm structure, and the worm wheel mechanism is connected with the worm wheel shaft sleeve through the bracket, so that the side guide wheel group 43 can move relative to the chassis 41. Of course, other mechanisms for enabling the side guide wheel set 43 to move inside and outside the chassis 41 may be applied to the shuttle robot system, such as a link reciprocating mechanism, a cam reciprocating mechanism, a gear reciprocating mechanism, etc., which are not listed in the present disclosure.

In a preferred solution, the rotation connection between the fixed rod 4321 and the rotating rod 4322 includes a rotation connection of a shaft pin or a rotation connection of a gear, preferably, the rotation connection of the shaft pin is a rotation connection of the rotating rod 4322, a lower baffle is arranged below the connection with the fixed rod 4321 on the rotating rod 4322, the lower baffle extends to the fixed rod 4321, and is used for enabling the center line of the fixed rod 4321 and the rotating rod 4322 to be in a straight line when the side guide wheel 431 is positioned at the upper edge of a rail side baffle of a non-straight-running section, namely, the maximum included angle between the fixed rod 4321 and the rotating rod 4322 is 180 degrees, so that the side guide wheel 431 can be stably and continuously abutted against the edge of the rail side baffle, and an upper baffle is arranged above the connection with the fixed rod 4321 on the rotating rod 4322, and is shorter than the lower baffle, and the upper baffle is used for enabling the fixed rod 4321 to be in a horizontal state when the fixed rod 4322 rotates downwards around the maximum angle of the rotating rod 4322, so that the fixed rod 4321 is in a horizontal state with the fixed rod 4322.

In addition, since the side guide wheel 431 of the side guide wheel group 43 is controlled to abut against the inner side surface of the middle part of the side flange of the rail when the side flange of the rail is bent inwards by 90 degrees, in order to make the form of the shuttle robot 4 smoother and the side guide wheel 431 prevent the inner side surface of the middle part of the side flange of the rail from losing guiding function, the side surface of the chassis 41 is further provided with a guide wheel 46 along the vertical direction, the mechanism of the guide wheel 46 can refer to the schematic diagram shown in fig. 6, the side surface of the chassis 41 is specifically structured to be provided with a supporting platform, a spring sheet or a rubber column and other elastic bodies are arranged on the supporting platform, a rod body for limiting the upward moving distance of the guide wheel 46 is arranged in the elastic body, the wheel shaft end of the guide wheel 46 extends along the chassis 41, and the end of the wheel shaft end is movably connected with the chassis 41, the shaft body can be provided with a through hole for the rod body to pass through, the rod body is provided with a structure for limiting the upward moving of the guide wheel 46 (such as a bolt is screwed into the top end of the rod body, or a pin is provided with the guide wheel 46, and the elastic body is moved down along the rod body to the top end of the guide wheel 46 so as to enable the guide wheel 46 to return to be under the state of the condition of the guide wheel 46.

Next, the track and application principle of the shuttle robot 4 according to the present application will be described, referring to fig. 5 and fig. 7-10, the track includes a branching platform 2, a combining end of the branching platform 2 is used for connecting the junction section track 1, and a branching end of the branching platform 2 is provided with at least two rail branches for connecting the junction section track 3. When the track of the branching platform 2 is a two-way track, reference may be made to the schematic diagram shown in fig. 5, in which the types of the tracks adopted by the branching platform 2, the combining section track 1 and the branching section track 3 are identical, that is, the heights of the side flanges of the tracks exceed the heights of the chassis 41 to the walking track surface, and the side flanges of the tracks are inclined surfaces curved inwards or curved inwards by 90 degrees. When the trolley walks in the two-way system, the position of the side guide wheel 431 is not changed in any position of the two-way platform 2, the combining section track 1 and the two-way section track 3, and only when the shuttle robot walks to the two-way platform 2 to perform the two-way combining, the two-way or the combining of the two-way sides is realized by controlling the lifting of the two-way wheel groups 44 corresponding to the two-way sides or the combining sides. The specific principle and control method of the two branches can also refer to the priority document of the present application, and are not described herein.

Next, the present application will be described in detail with reference to fig. 7, 8, 9 and 10, where the track of the branching platform 2 is a three-way track, and the branching end of the branching platform 2 is provided with a three-way track branching including a right branching track 22, a left branching track 23 and a straight branching track 24, where the track side flange height of the left branching track and the track side flange height of the right branching track both exceed the height from the chassis 41 to the walking track surface, and the side flange upper edge of the left branching track and the side flange upper edge of the right branching track both adopt inward curved inclined planes or inward curved 90 degrees, and the track side flange height of the straight branching track is lower than the height from the chassis 41 to the walking track surface, and the track side flange of the straight branching track is provided with a gap for the left branching walking and the right branching walking for passing through the walking wheel set 42 of the shuttle robot 4. The right branching rail 22 and the left branching rail 23 of the branching platform 2 are connected with the straight branching rail 24 at the combining end to obtain a combined rail interface 21, and the shuttle robot 4 enters or exits the combined section rail 1 through the combined rail interface 21. The straight-running shunt rail 24 comprises a straight-running rail 241, and a steering platform 242 for steering and running the running wheel set 42 of the shuttle robot 4 is arranged in the straight-running rail 241. Specifically, the port at the junction of the right branch junction 223, the left branch junction 233, and the straight-line branch rail 24, which is the junction of the branch platform 2, is connected to the junction rail 1, and is defined as a branch travel if the traveling direction of the shuttle robot 4 is from the junction rail 1 to the branch platform 2, and is defined as a junction travel if the traveling direction of the shuttle robot 4 is from the branch platform 2 to the junction rail 1. The shuttle robots 4 traveling from the right branch rail 22, the left branch rail 23, and the straight branch rail 24 to the joint section rail 1 all enter the joint section rail 1 through the ports.

The branching end of the branching platform 2 is provided with three branching track interfaces, namely a right branching track interface 221, a left branching track interface 231 and a branching end of the straight running track 241, which are used for connecting the branching section tracks 3. The specific branching section track 3 comprises a right branching track 31, a straight branching track 32 and a left branching track 33, wherein the right branching track interface 221 is connected with the right branching track 31, the branching end part of the straight walking track 241 is connected with the straight branching track 32, and the left branching track interface 231 is connected with the left branching track 33. Therefore, if the shuttle robot 4 needs to travel from the merging section track 1 to the right branch track 31, the shuttle robot 4 needs to be controlled to perform the right branch and enter the right branch track 31 through the right branch track interface 221, and other left branch and straight branch conditions are the same as those of the right branch track, and will not be described in detail.

In order to enable the shuttle robot 4 to complete the straight-going branching walking, the branching platform 2 includes a left and a right side branching platform and a straight-going branching rail 24, that is, the straight-going branching rail 24 is between the right branching rail 22 and the left branching rail 23, the right branching rail 22 and the left branching rail 23 are provided with rail side flanges at their respective corresponding branching sides, that is, the right branching rail 22 is provided with rail side flanges at the right side of the branching direction, the left branching rail 23 is provided with rail flanges at the left side of the branching direction, which are identical to the side flanges of the rails of the combining section rail 1 in structure, that is, the side flanges adopt an inwardly inclined slope structure, and the right branching rail 22 and the left branching rail 23 are not provided with rail side flanges at the respective non-branching sides. The straight-running shunt rail 24 comprises a straight-running rail 241, a steering platform 242 for steering and running of the running wheel set 42 of the shuttle robot 4 is arranged in the straight-running rail 241, the steering platform 242 is a plate-shaped platform arranged between the straight-running rails of the straight-running rail 241, and after the steering platform 242 is installed in place, the upper surface of the platform is flush with the track running surface of the straight-running rail 241. In addition, the straight-running shunt rail 24 is further provided with a side flange, the side flange is disposed at the edge of the straight-running rail 241, the preferred side flange and the track surface of the straight-running rail 241 are integrally formed, the height of the side flange is lower than the height from the chassis 41 of the shuttle robot 4 to the straight-running rail 241, and a gap for the non-straight running shunt to pass through the running wheel set 42 of the shuttle robot 4 is formed in the side flange, so that a gap with a matching track of the running wheel set 42 is formed in the side flange on one side of the straight-running rail 241, and the running wheel set 42 on the shunt side can pass through the straight-running rail 241 to run to the track on the shunt platform.

The shuttle robot 4 further comprises a side guide wheel set 43 and a shunt wheel set 44 for assisting in running on rails, when the shuttle robot 4 runs on the combined section rail 1, the right shunt rail 31, the straight shunt rail 32 or the left shunt rail 33, the side guide wheel sets 43 on two sides of the shuttle robot 4 are abutted against the upper edges of the side flanges of the combined section rail 1, the right shunt rail 31, the straight shunt rail 32 and the left shunt rail 33, so that the shuttle robot 4 is kept stably in the rails by utilizing the acting force between the upper edges of the side flanges of the positions and the side guide wheel sets 43, and when the shuttle robot 4 has a tendency of tilting due to inconsistent stress at two ends, the upper edges of the side flanges of the positions transmit thrust to the shuttle robot housing 4 through the side guide wheel sets 43, thereby keeping the shuttle robot 4 stable in the rails and avoiding derailment.

The side guide wheel group 43 of the present application includes a side guide wheel 431 and a link 432, and the side guide wheel group 43 is rotatable up and down with respect to the chassis 41 of the shuttle robot 4, so that the side guide wheel group 43 is rotatable down when the straight-line branching is performed, and the side guide wheel 431 of the side guide wheel group 43 abuts against the inner side wall of the straight-line branching rail 24, that is, the side guide wheel 431 abuts against the side flange of the straight-line branching rail 24. When in use, the height of the inner side wall of the straight-going branching rail 24 is lower than the height from the chassis 41 of the shuttle robot 4 to the straight-going walking rail 241, so that the side guide wheel 431 is rotated to a low position before entering the straight-going walking rail 241, and in addition, the side guide wheel 431 is rotated upwards or downwards, that is, the side guide wheel 431 adopts the arc-shaped tread 4311, and the wheel vertex of the arc-shaped tread 4311 is circular motion.

In summary, when the branching is not performed in the straight line, the branching wheel set 44 corresponding to the branching side is lowered, so that the branching on the branching side can be realized. When the shuttle robot 4 walks in a branching way, the shuttle robot 4 is controlled to enter the branching platform 2 from the combined track interface, and the positions of the branching wheel set 44 and the side guide wheel set 43 are controlled to realize branching of the shuttle robot 4, which comprises the following specific steps:

If the shuttle robot 4 performs the straight-going shunt walking, the shunt wheel sets 44 on both sides of the shuttle robot 4 are controlled to rise to a preset high position, where the high position is a preset configuration position, and usually the lowest position of the shunt wheel set 44 is higher than the track, and preferably the lowest position of the shunt wheel set 44 is higher than the track by 5-20mm. The side guide wheel sets 43 on both sides of the shuttle robot 4 are controlled to rotate to a preset low position, wherein the low position is a preset configuration position, and is generally a height of a side flange of the side guide wheel 431, which is higher than a track running surface and lower than the straight-running branching track 24, that is, the preset low position is that the top points of the arc-shaped tread 4311 of the side guide wheel 431 on both sides of the shuttle robot 4 are respectively in contact with the first auxiliary straight-running flange 243 and the second auxiliary straight-running flange 244. After the shuttle robot 4 passes through the straight-going branching track 2, the side guide wheel sets 43 on both sides of the shuttle robot 4 are controlled to rotate to a preset high position, wherein the high position is a preset configuration position, that is, the side guide wheel 431 can stably and continuously abut against the upper edge of the track side flanges of the non-straight-going branching section.

When the shuttle robot 4 walks in a right branch, the branching wheel set 44 on the right side of the shuttle robot 4 is controlled to descend to a preset low position, which is a preset arrangement position, and is usually a position where the branching wheel set 44 can be engaged with a side surface of a track, that is, when the shuttle robot 4 walks in a right branch, the shuttle robot 4 is biased to the left due to the influence of the centripetal force, so that the centripetal force of the shuttle robot 4 to the left is resisted by the acting force of the side surface of the track to the branching wheel set 44. When the right branching of the shuttle robot 4 is completed, the branching wheel set 44 on the right side of the shuttle robot 4 is controlled to rise to a preset high position, the high position is a preset configuration position, usually the lowest position of the branching wheel set 44 is higher than the track, preferably the lowest position of the branching wheel set 44 is higher than the track by 5-20mm, in addition, when the shuttle robot 4 walks on a non-straight-line branching section (i.e. the shuttle robot 4 walks on the combined section track 1, the branching section track 2, the right branching track 22 and the left branching track 23), the side guide wheels 431 can be stably and continuously abutted against the upper edges of the track side flanges of the non-straight-line branching section.

If the shuttle robot 4 walks in a left branch, the branch wheel set 44 on the left side of the shuttle robot 4 is controlled to descend to a preset low position, and after the left branch of the shuttle robot 4 is completed, the branch wheel set 44 on the left side of the shuttle robot 4 is controlled to ascend to a preset high position, and in addition, the side guide wheel sets 43 on two sides of the shuttle robot 4 are all in the preset high position, so that the principle of the left branch and the right branch is the same and is not repeated.

When the shuttle robot walks in a combined way, the shuttle robot 4 is controlled to enter the shunt platform 2 from the corresponding shunt section track interface, and the positions of the shunt wheel group 44 and the side guide wheel group 43 are controlled to realize the combination of the shuttle robot 4, and the specific steps are as follows:

If the shuttle robot 4 performs the straight-going combined-path walking, the branching wheel sets 44 on both sides of the shuttle robot 4 are controlled to rise to a preset high position, the side guiding wheel sets 43 on both sides of the shuttle robot 4 are controlled to rotate to a preset low position, and when the shuttle robot passes through the straight-going branching track 2, the side guiding wheel sets 43 on both sides of the shuttle robot 4 are controlled to rotate to a preset high position, the position change and the explanation of each noun in the straight-going combined-path process are consistent with the straight-going branching running, and the straight-going combined-path process is the inverse process of the straight-going branching process, the principle is the same, and is not repeated.

If the shuttle robot 4 walks on the right combining path, the shunting wheel set 44 on the right side of the shuttle robot 4 is controlled to descend to a preset low position, and after the right combining path of the shuttle robot 4 is completed, the shunting wheel set 44 on the right side of the shuttle robot is controlled to ascend to a preset high position, the position change and the explanation of each noun in the right combining path process are consistent with the right shunting path, and the right combining path process is the reverse process of the right shunting path process, and the principle is the same and is not repeated.

If the shuttle robot 4 walks on the left combined path, the shunting wheel set 44 on the left side of the shuttle robot 4 is controlled to descend to a preset low position, and after the shuttle robot 4 completes the left combined path, the shunting wheel set 44 on the left side of the shuttle robot 4 is controlled to ascend to a preset high position, the position change and the explanation of each noun in the left combined path process are consistent with the left combined path running, and the left combined path process is the inverse process of the left combined path process, and the principle is the same and is not repeated.

In summary, the height of the side flanges of the straight-running branching rail 24 is lower than the height from the chassis 41 of the shuttle robot 4 to the running rail surface, and the gap for the non-straight-running branching to pass through the running wheel set of the shuttle robot 4 is formed in the straight-running branching rail 24, and the positions of the side guide wheel set 43 and the branching wheel set 44 are controlled to cooperate with the shuttle robot to complete three-branching running, so that the problem that the existing trolley can only run on two-branching rails is solved. In addition, the rails of the shuttle robot system are of a pure mechanical structure, and the rail-changing structure is not controlled, so that the rail-changing action is realized only by controlling the shuttle robot 4, namely, the rails of the shuttle robot system are of an electrified design, and the shuttle robot system has the advantages of being simple in structure, easy to maintain and the like.

In addition to the above, the shuttle robot 4 of the present application may be used for logistical transportation on the ground, that is, the shuttle robot 4 of the present application is capable of walking on the ground and rails, and the shuttle robot 4 drives the robot to travel on the rails and the rail shuttle drives for driving the robot to travel on the rails while traveling on the ground, share the traveling wheel sets 42 disposed at both sides of the chassis 41. The walking wheel sets 42 which are preferably arranged on the two sides of the chassis 41 are respectively connected with independent power sources for driving, the shuttle robot 4 can be driven by the cooperation of the walking wheel sets 42 and the ground or the surface of the rail no matter on the ground or on the rail, the ground walking steering is realized by two-wheel differential running, a driving mechanism is not required to be arranged independently, the structural complexity of the shuttle robot is reduced, the size is reduced, the rapid conveying and sorting requirements of various warehouse logistics conveying systems are met, meanwhile, the same driving wheel is used, the speed reduction switching is not required at the junction, and the shuttle robot can continuously run at a high speed.

In a preferred embodiment, the shuttle robot 4 of the present application is further provided with a steering wheel 45, wherein the steering wheel 45 and the traveling wheel set 42 are simultaneously contacted with the ground when the robot performs the ground traveling movement, and the steering wheel 45 is disposed under the robot chassis 41 in a diagonal direction. The steering wheel 45 may be an unpowered wheel, and is disposed below the robot chassis 41 in a diagonal direction, so that the shuttle robot can walk on the ground in a balanced and stable manner, and the steering wheel 45 disposed in the diagonal direction and the traveling wheel group 42 form a stable triangular relationship. In addition, in order to further improve the stability of the shuttle robot 4 during track walking or ground walking, the side guide wheel sets 43 and the branching wheel sets 44 are located on the front and rear sides of the walking wheel set 42, and are symmetrically arranged with the axis of the rotation shaft of the driving wheel 2 as the center.

In a preferred embodiment, the steering wheel 45 is not only used for improving the stability of the shuttle robot 4 walking on the ground, but also used for assisting the straight-going split-combined walking. The application further introduces the structure of the branching platform 2, and further describes the principle of straight-going branching and combining by combining the mechanism of the branching platform 2 and the steering wheel 45 of the shuttle robot 4. The side flanges of the straight-going branching rail 24 of the present application include a first auxiliary straight-going flange 243 and a second auxiliary straight-going flange 244, the first auxiliary straight-going flange 243 and the second auxiliary straight-going flange 244 are symmetrical with respect to the center of the straight-going branching rail 24, and the first auxiliary straight-going flange 243 and the second auxiliary straight-going flange 244 are both provided with a gap for the running wheel set 42 and the steering wheel 45 to pass through. Next, the description will be made with reference to the right branching direction, specifically, the first auxiliary straight-going rib 243 includes, in the branching direction, a first right rib 2431, a second right rib 2432, a third right rib 2433, and a fourth right rib 2434 that are sequentially disposed, a gap is disposed between the first right rib 2431 and the right side rail of the right branching rail 22, the gap is used for the right side of the shuttle robot 4 to pass through the traveling wheel set 42, a gap disposed between the first right rib 2431 and the second right rib 2432 is used for the right side of the shuttle robot 4 to pass through the steering wheel 45, a gap disposed between the second right rib 2432 and the third right rib 2433 is used for the left side of the shuttle robot 4 to pass through the steering wheel 45, and a gap disposed between the third right rib 2433 and the fourth right rib 2434 is used for the left side of the shuttle robot 4 to pass through the traveling wheel set 42. Next, description will be made of a left branching direction, specifically, the second auxiliary straight-running rib 244 includes, according to the branching direction, a first left rib 2441, a second left rib 2442, a third left rib 2443, and a fourth left rib 2444 that are sequentially disposed, a gap is disposed between the first left rib 2441 and the left side rail of the left branching rail 23, the gap is used for the left side of the shuttle robot 4 to pass through the running wheel set 42, a gap disposed between the first left rib 2441 and the second left rib 2442 is used for the left side of the steering wheel 45 of the shuttle robot 4 to pass through, a gap disposed between the second left rib 2442 and the third left rib 2443 is used for the right side of the shuttle robot 4 to pass through the steering wheel 45, and a gap disposed between the third left rib 2443 and the fourth left rib 2444 is used for the right side of the shuttle robot 4 to pass through the running wheel set 42.

In order to ensure the level of the carried articles, the traveling wheel set 42 and the steering wheel 45 of the shuttle robot 4 of the present application may be on the same horizontal plane as the traveling wheel set 42 and the steering wheel 45, and the steering platform 242 is provided with a groove 2421 for restricting the rotation of the steering wheel 45, so as to assist in keeping the shuttle robot 4 traveling straight during straight branching. This is because the straight-going branching track 24 is provided with a gap for the non-straight-going branching to pass through the traveling wheel set 42 of the shuttle robot 4, when the traveling speeds of the traveling wheel sets 42 on both sides are different or the friction coefficients of the traveling surfaces of the tracks are different, the shuttle robot 4 can deflect and travel straight on the traveling surfaces of the tracks, and the upper edges of the side walls of the tracks are bent inwards when the left and right branches are made, so that the shuttle robot 4 can travel straight through the action of the side guide wheel sets 43 on the upper edges of the inner side walls bent with the tracks on both sides. However, the straight-going branching track 24 is provided with a gap for the non-straight-going branching to pass through the traveling wheel set 42 of the shuttle robot 4 and the steering wheel 45, so in order to prevent the shuttle robot 4 from being caught by the gap when traveling along the straight-going branching, one end of the steering platform 242 may extend all the way to the interface with the combining section track 1, so that one end of the groove 2421 provided on the steering platform 242 may extend all the way to the interface with the combining section track 1, and the other end of the steering platform 242 may extend all the way to the end of the gap, so that the other end of the groove 2421 provided on the steering platform 242 may extend all the way to the end of the gap, and at the same time, since the steering wheel 45 is disposed diagonally below the robot chassis 41 and at the front and rear ends of the chassis 41, the steering wheel 45 enters the groove 2421 after the shuttle robot 4 travels from the combining section track 1 onto the straight-going branching track 24, limiting and correcting the offset of the shuttle robot 4. Further, two ends of the groove 2421 are provided with a transition plate 2422, one end of the transition plate 2422 is flush with the groove 2421, and the other end of the transition plate 2422 extends downwards towards the bottom of the groove, so that the steering wheel 45 can smoothly enter into or exit from the groove 2421.

Because the steering wheel 45 needs to be driven out from the side of the groove 2421 during the left-right branching, and the cooperation of the steering wheel 45 and the groove 2421 only assists the shuttle robot 4 to complete the straight running through the gap formed on the straight-running branching path, mainly still depending on the cooperation of the side guide wheel group 43 and the side flange of the straight-running branching track, the depth of the groove 2421 is not too high, the depth is generally 1-3mm, and the edge of the groove 2421 is a circular arc chamfer, so that the steering wheel 45 can be driven out from the side of the groove 2421 smoothly and rapidly under the action of the branching wheel group 44. The non-branching side running wheel set 42 is suspended when passing through the groove 2421 due to the action of the branching wheel set 44 and the non-straight running branching rail during the left and right branching.

In a preferred embodiment, when the center of gravity of the carried article is near the traveling direction, the shuttle robot 4 of the present application may have the steering wheel 45 in the traveling direction suspended on the groove 2421, so that the steering wheel 45 cannot smoothly walk against the bottom wall of the groove 2421, thereby losing the purpose of assisting in straight-going branching. The straight shunt rail 24 is thus arranged as a curved surface which curves downwards and the slope of the straight shunt rail 24 does not exceed 5%, preferably 2% and 3%, the slope is not too great, excessive slopes may cause the carried items to move on the shuttle robot 4 and the shuttle robot 4 is prone to slipping while climbing the slope. When the straight-going branch rail 24 has a curved surface curved downward, even if the gravity of the carried article is located behind the traveling direction, the gravity of the carried article has a forward component, so that a part of the gravity is reduced, so that the gravity of the carried article is moved forward a little by a little in the traveling direction, and the steering wheel 45 can walk against the bottom wall of the groove 2421 when entering the groove 2421.

In a preferred solution, guide plates arranged along the respective steering traveling directions are disposed between the gaps of the first auxiliary straight-traveling ribs 243 and between the gaps of the second auxiliary straight-traveling ribs 244, that is, the free ends of the guide plates are inclined inward along the steering directions, as shown in the schematic diagram of fig. 4, the main function of the guide plates is that the trolley is inclined inward along the steering directions even if the trolley is deviated between the gaps, the side guide wheels 431 are not blocked between the gaps after touching the guide plates inclined inward along the steering directions, and the guide plates are also provided with guide grooves for guiding the side guide wheels 431 to resume straight-traveling branches or straight-traveling combination paths. In addition, when the shuttle robot 4 is split and combined in the left-right direction, the traveling track of the traveling wheel group 42 and the steering wheel 45 is fixed due to the stability of the traveling of the shuttle robot under the action of the side guide wheel group 43 and the branching wheel group 44, so that the gap between the two guide plates inclined in the steering direction is set to be larger than the wheel width to be passed.

In summary, the shuttle robot system is controlled to have no additional structure specially used for straight-line branching, and the shuttle robot can walk in three branches by only controlling the left and right branching side guide wheel groups and the branching wheel groups and matching with the branching platform structure, so that the shuttle robot has the advantages of compact structure, small size and low cost. In addition, the shuttle robot ground shuttle driving mechanism and the track shuttle driving mechanism share the walking wheel set, and the side guide wheel set and the branching wheel set which are used for assisting in running on the track are correspondingly arranged, so that the requirements of ground movement and track movement can be met at the same time, material transfer can be directly carried out without stopping at the junction of the ground and the track, and the efficiency of conveying and sorting is improved.

A second aspect of the present application provides a shuttle robot control method applied to the shuttle robot system according to any one of the first aspects;

The shunt control of the shuttle robot is as follows:

When the shuttle robot walks in a combined way, the control is as follows:

Furthermore, in the description of the present application, unless otherwise indicated, "a plurality" means two or more than two. In addition, in order to facilitate the clear description of the technical solution of the embodiments of the present application, in the embodiments of the present application, the words "first", "second", etc. are used to distinguish the same item or similar items having substantially the same function and effect. It will be appreciated by those of skill in the art that the words "first," "second," and the like do not limit the amount and order of execution, and that the words "first," "second," and the like do not necessarily differ. The embodiments of the present application described above do not limit the scope of the present application.

Claims

1. A shuttle robot system, characterized by comprising a shuttle robot (4),

The shuttle robot (4) comprises a side guide wheel set (43) and a branching wheel set (44) which are used for assisting in running on a track, wherein the side guide wheel set (43) can rotate up and down and/or move in and out relative to a chassis (41) of the shuttle robot (4), so that the position of the side guide wheel set (43) is adjusted according to the type of the track, and the position of the side guide wheel set is used for adapting the type of the track to guide the track running of the shuttle robot (4);

The branching wheel set (44) can vertically move up and down relative to the chassis (41) of the shuttle robot (4) and is used for lowering the branching wheel set (44) corresponding to the branching side or the combining side when the track branches or combines, so as to realize branching of the branching side or combining of the combining side.

2. Shuttle robot system according to claim 1, characterized in that the side guide wheel set (43) is rotatable up and down and/or movable in and out with respect to the chassis (41) of the shuttle robot (4) comprises:

The side guide wheel set (43) comprises a side guide wheel (431), a connecting rod (432), a telescopic mechanism and a lifting mechanism, wherein the connecting rod (432) comprises a fixed rod (4321) and a rotating rod (4322), one end of the fixed rod (4321) is used for being connected with the side guide wheel (431), and the other end of the fixed rod (4321) is rotationally connected with the rotating rod (4322);

The rotating fulcrum of the rotating rod (4322) adopts a rotatable shaft sleeve, and a pin shaft, a rotating shaft or a universal joint device is arranged at the outer side of the shaft sleeve;

The telescopic mechanism is connected to one end far away from the rotating rod (4322) and connected with the fixed rod (4321) and is used for enabling the rotating rod (4322) to move in the shaft sleeve so as to enable the side guide wheel group (43) to move inside and outside relative to the chassis (41);

the lifting mechanism is used for driving one end of the rotating rod (4322) connected with the fixed rod (4321) and the telescopic mechanism to rotate around a rotating pivot.

3. The shuttle robot system of claim 2, wherein the lifting mechanism employs an electric cylinder, an electric hydraulic lever, a cam lift, or a worm lift;

4. A shuttle robot system according to claim 3, wherein said enabling adjustment of the position of the side guide wheel set (43) according to the track type comprises:

when the height of the side flanges of the rail exceeds the height from the chassis (41) to the walking rail surface and the side flanges of the rail are inwards bent inclined planes, the side guide wheels (431) of the side guide wheel sets (43) are controlled to be abutted with the inner upper edge inclined planes;

When the height of the side flanges of the rail exceeds the height from the chassis (41) to the walking rail surface and the side flanges of the rail are bent inwards by 90 degrees, the side guide wheels (431) of the side guide wheel groups (43) are controlled to be abutted against the inner side surfaces of the middle parts of the side flanges of the rail;

When the height of the side flanges of the rail is lower than the height from the chassis (41) to the walking rail surface and the upper edges of the side flanges of the rail are not bent, the side guide wheels (431) of the side guide wheel sets (43) are controlled to rotate to be abutted with the inner side walls of the rail.

5. Shuttle robot system according to claim 4, characterized in that the track comprises a branching platform (2), the merging end of the branching platform (2) being adapted to connect the joint section track (1), and the branching end of the branching platform (2) being provided with at least two rail branches for connecting the joint section track (3).

6. Shuttle robot system according to claim 5, characterized in that the branching end of the branching platform (2) is provided with two rail branches comprising a straight branching rail and a branching rail;

The height of the side flanges of the straight-going branching track and the height of the side flanges of the branching track exceed the height from the chassis (41) to the walking track surface;

7. The shuttle robot system according to claim 6, wherein when the side flanges of the straight branching rail and the side flanges of the branching rail are each bent inward by 90 degrees, the side surfaces of the chassis (41) are further provided with guide wheels (46) in the vertical direction, the guide wheels (46) are moved up and down in the vertical direction by the action of springs, and the guide wheels (46) abut against the side flanges bent by 90 degrees.

8. Shuttle robot system according to claim 5, characterized in that the branching end of the branching platform (2) is provided with a three-way rail branching comprising a right branching rail (22), a left branching rail (23) and a straight branching rail (24);

The rail side flange height of the left branching rail and the rail side flange height of the right branching rail exceed the height from the chassis (41) to the walking rail surface, and the side flange upper edge of the left branching rail and the side flange upper edge of the right branching rail are respectively bent inwards by an inclined plane or inwards by 90 degrees;

The height of the rail side flange of the straight-running branching rail is lower than the height from the chassis (41) to the walking rail surface, and the rail side flange of the straight-running branching rail is provided with a gap for the left branching walking and the right branching walking to pass through by a walking wheel set (42) of the shuttle robot (4).

9. Shuttle robot system according to claim 8, characterized in that the right (22) and left (23) shunt rails are connected to the straight shunt rail (24) at a merging end to get a merging rail interface (21), through which merging rail interface (21) the shuttle robot (4) enters or exits the merging section rail (1).

10. Shuttle robot system according to claim 9, characterized in that the straight-going shunt rail (24) comprises a straight-going walking rail (241), a steering platform (242) being arranged in the straight-going walking rail (241) for steering the walking wheel set (42) for walking when walking not straight-going shunt.

11. Shuttle robot system according to claim 10, characterized in that the shuttle robot (4) is further provided with steering wheels (45), the steering wheels (45) being in contact with the ground simultaneously with the running wheel sets (42) when the robot is performing ground travelling movements;

The steering wheel (45) is disposed diagonally below the robot chassis (41).

The steering platform (242) is provided with a groove (2421) for limiting the steering wheel (45) to rotate, and is used for assisting in keeping the shuttle robot (4) to walk straight when the shuttle robot branches straight.

12. Shuttle robot system according to claim 11, characterized in that the recess (2421) is provided with transition plates (2422) at both ends for smooth driving of the steering wheel (45) into or out of the recess (2421).

13. The shuttle robot system according to claim 12, wherein the depth of the groove (2421) is 1-3mm and the edges of the groove (2421) are rounded corners.

14. Shuttle robot system according to claim 13, characterized in that the straight shunt rail (24) is curved downwards and the slope of the straight shunt rail (24) is not more than 5%.

15. Shuttle robot system according to claim 14, characterized in that the running wheel sets (42) located at both sides of the chassis (41) are respectively connected with independent power sources for driving, and the running wheel sets (42) are arranged in the middle of the chassis (41), and the side guide wheel sets (43) and the branching wheel sets (44) are located at both front and rear sides of the running wheel sets (42) and are symmetrically arranged with the rotation shaft axis of the driving wheel (2) as the center.

16. The shuttle robot system according to claim 15, wherein the side flanges of the straight shunt rail (24) comprise a first auxiliary straight flange (243) and a second auxiliary straight flange (244);

The first auxiliary straight-running flange (243) and the second auxiliary straight-running flange (244) are centrally symmetrical with respect to the straight-running branching track (24), and the first auxiliary straight-running flange (243) and the second auxiliary straight-running flange (244) are respectively provided with a gap for the running wheel set (42) and the steering wheel (45) to pass through.

17. The shuttle robot system according to claim 16, wherein guide plates arranged in the respective steering travel directions are provided between the gaps of the first auxiliary straight-running rib (243) and between the gaps of the second auxiliary straight-running rib (244).

18. Shuttle robot system according to any of claims 1-17, characterized in that the shunt wheel group (44) comprises a shunt wheel mounting frame (441) and a lifting rod (442), the shunt wheel mounting frame (441) being lifted vertically along the lifting rod (442) under the influence of a power source.

19. A method of shuttle robot control, characterized in that the method is applied to a shuttle robot system according to any one of claims 1-18;

20. The shuttle robot control method of claim 19, wherein when the branching end of the branching platform is provided with a three-way track branching;

The shunt control of the shuttle robot is as follows:

When the shuttle robot walks in a combined way, the control is as follows: