Shuttling robot system and control method

Abstract

The invention provides a shuttling robot system and a control method, the shuttling robot system comprises a shuttling robot, the shuttling robot comprises a side guide wheel set and a shunt wheel set which are used for assisting running on a track, and the side guide wheel set can rotate up and down and / or move inside and outside relative to a chassis of the shuttling robot. The position of the side guide wheel set is adjusted according to the track type, and the side guide wheel set is used for being matched with the track type to guide track walking of the shuttle robot. And the shunting wheel sets can vertically move up and down relative to the chassis of the shuttle robot, and are used for descending the shunting wheel sets corresponding to the shunting side or the combining side when the rails are shunted or combined, so that the shunting of the shunting side or the combining of the combining side is realized. Therefore, the shuttle robot solves the problem that an existing trolley is poor in applicability to track types.

Description

[0001] This application claims the priority of the application with the application number CN202311769573.6 and the invention title of "A Shuttle Robot and Its Usage Method" filed with the National Intellectual Property Administration on December 21, 2023. The entire disclosure content of the said patent application is incorporated into this application for reference. Technical Field

[0002] This application relates to the technical field of logistics conveying robots, and particularly to a shuttle robot system and a control method. Background Art

[0003] Shuttle robots are widely used in the field of warehousing logistics conveying, and can achieve rapid conveying and sorting of materials. Usually, in a warehousing logistics system, different shuttle robots are used for material conveying on the ground and on the tracks. At the docking point, material transfer is required, which affects the overall conveying efficiency and the overall conveying and sorting efficiency.

[0004] When the shuttle robot travels on the track, in the prior art, a trolley and a track are proposed, and a shunting wheel and a guiding wheel are arranged on the trolley. Both the shunting wheel and the guiding wheel are arranged on both sides of the trolley. The shunting is completed by the lifting of the shunting wheel, and the guiding wheel and the track structure cooperate to enable the trolley to travel smoothly along the track.

[0005] However, the track structure and the trolley guiding and shunting structure in the existing system need to be matched. Different shunting wheel and guiding wheel structures of the trolley are applicable to different track structures. Therefore, the existing trolley has poor applicability to track types. In addition, the shunting of the existing trolley and track structure can only be divided into two paths. However, with the increasing requirements for the efficiency of logistics conveying robots and the requirements for the on-site venue, such as the stacking of transportation layers, the trolley on this layer needs to climb to the upper layer, descend to the lower layer, and operate on this layer, or in order to classify and dispatch, the warehouse is unitized, and the connection between each unitized warehouse, etc., all require more than two paths of track shunting. Therefore, the trolley can only travel on a two-path track, which can no longer meet the requirements. Summary of the Invention

[0006] This application provides a shuttle robot system and a method for changing tracks, which can be used to solve the problem that the existing trolley has poor applicability to track types.

[0007] In the first aspect of this application, a shuttle robot system is provided, including a shuttle robot.

[0008] The shuttle robot includes a side guiding wheel group and a shunting wheel group for auxiliary traveling on the track. Among them, the side guiding wheel group can rotate up and down and / or move in and out relative to the chassis of the shuttle robot to adjust the position of the side guiding wheel group according to the track type, so as to adapt to the track type and guide the shuttle robot to travel on the track.

[0009] The shunt wheel set can move vertically up and down relative to the chassis of the shuttle robot. When splitting or combining tracks, the shunt wheel set on the corresponding splitting side or combining side is lowered to achieve splitting on the splitting side or combining on the combining side.

[0010] Furthermore, the side guide wheel set can rotate up and down and / or move in and out relative to the chassis of the shuttle robot, including:

[0011] The side guide wheel set includes side guide wheels, connecting rods, telescopic mechanisms, and lifting mechanisms. The connecting rod includes a fixed rod and a rotating rod. One end of the fixed rod is used to connect the side guide wheel, and the other end of the fixed rod is rotatably connected to the rotating rod;

[0012] The rotation fulcrum of the rotating rod uses a rotatable bushing, and a pin shaft, a rotating shaft, or a universal joint device is arranged on the outer side of the bushing;

[0013] The telescopic mechanism is connected to the end far from the connection between the rotating rod and the fixed rod, and is used to move the rotating rod in the bushing, so that the side guide wheel set can move in and out relative to the chassis;

[0014] The lifting mechanism is used to drive one end of the rotating rod connected to the fixed rod and the telescopic mechanism to rotate around the rotation fulcrum.

[0015] Furthermore, the lifting mechanism uses an electric cylinder, an electric hydraulic rod, a cam lifting device, or a worm lifting device;

[0016] The telescopic mechanism uses an electric cylinder, an electric hydraulic rod, a cam lifting device, or a worm lifting device.

[0017] Furthermore, the realization of adjusting the position of the side guide wheel set according to the track type includes:

[0018] When the height of the side retaining edge of the track exceeds the height from the chassis to the walking track surface, and the upper edge of the side retaining edge of the track is an inclined surface that bends inward, the side guide wheel of the side guide wheel set is controlled to abut against the inner upper inclined surface;

[0019] When the height of the side retaining edge of the track exceeds the height from the chassis to the walking track surface, and the upper edge of the side retaining edge of the track bends inward by 90 degrees, the side guide wheel of the side guide wheel set is controlled to abut against the inner side surface of the middle part of the side retaining edge of the track;

[0020] When the height of the side retaining edge of the track is lower than the height from the chassis to the walking track surface, and the upper edge of the side retaining edge of the track has no bend, the side guide wheel of the side guide wheel set is controlled to rotate to abut against the inner side wall of the track.

[0021] Further, the track includes a shunt platform. The combining end of the shunt platform is used to connect to the combined track section, and at least two track shunts are provided at the shunt end of the shunt platform for connecting to the shunt track sections.

[0022] Further, two track shunts are provided at the shunt end of the shunt platform. The track shunt includes a straight shunt track and a shunt track.

[0023] The height of the side retaining edge of the straight shunt track and the height of the side retaining edge of the shunt track both exceed the height from the chassis to the walking track surface.

[0024] The upper edge of the side retaining edge of the straight shunt track and the upper edge of the side retaining edge of the shunt track both adopt an inclined surface that bends inward or bend 90 degrees inward.

[0025] Further, when the upper edges of the side retaining edges of the straight shunt track and the shunt track both bend 90 degrees inward, a guide wheel is further provided on the side surface of the chassis 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 abuts against the inner upper edge of the side retaining edge that bends 90 degrees.

[0026] Further, three track shunts are provided at the shunt end of the shunt platform. The track shunt includes a right shunt track, a left shunt track, and a straight shunt track.

[0027] Among them, the height of the track side retaining edge of the left shunt track and the height of the track side retaining edge of the right shunt track both exceed the height from the chassis to the walking track surface. The upper edge of the side retaining edge of the left shunt track and the upper edge of the side retaining edge of the right shunt track both adopt an inclined surface that bends inward or bend 90 degrees inward.

[0028] The height of the track side retaining edge of the straight shunt track is lower than the height from the chassis to the walking track surface, and a gap is provided in the track side retaining edge of the straight shunt track for the walking wheel set of the shuttle robot to pass through during left shunt walking and right shunt walking.

[0029] Further, the right shunt track and the left shunt track are connected to the straight shunt track at the combining end to obtain a combined track interface, and the shuttle robot enters or exits the combined track section through the combined track interface.

[0030] Further, the straight shunt track includes a straight walking track, and a steering platform for the walking wheel set to turn and walk when not in straight shunt walking is provided in the straight walking track.

[0031] Further, the shuttle robot is further provided with steering wheels. When the robot moves forward on the ground, the steering wheels and the walking wheel set are in contact with the ground at the same time.

[0032] The steering wheels are arranged diagonally below the robot chassis.

[0033] The steering platform is provided with grooves for restricting the rotation of the steering wheels, which are used to assist in keeping the shuttle robot walking straight when going straight and branching.

[0034] Furthermore, transition plates are arranged at both ends of the grooves to enable the steering wheels to smoothly drive into or out of the grooves.

[0035] Furthermore, the depth of the grooves is 1 - 3 mm, and the edges of the grooves are rounded chamfers.

[0036] Furthermore, the straight - path branching track bends downward, and the slope of the straight - path branching track does not exceed 5%.

[0037] Furthermore, the walking wheel sets on both sides of the chassis are respectively connected to independent power sources for driving, and the walking wheel sets are arranged in the middle of the chassis. The side guide wheel sets and the branching wheel sets are both located on the front and rear sides of the walking wheel sets and are symmetrically arranged with the axis of the rotation shaft of the driving wheels as the center.

[0038] Furthermore, the side edges of the straight - path branching track include a first auxiliary straight - path retaining edge and a second auxiliary straight - path retaining edge;

[0039] The first auxiliary straight - path retaining edge and the second auxiliary straight - path retaining edge are centrosymmetric about the center of the straight - path branching track, and both the first auxiliary straight - path retaining edge and the second auxiliary straight - path retaining edge are provided with gaps for the walking wheel sets and the steering wheels to pass through.

[0040] Furthermore, guide plates arranged along the respective steering and walking directions are provided between the gaps of the first auxiliary straight - path retaining edge and between the gaps of the second auxiliary straight - path retaining edge.

[0041] Furthermore, the branching wheel set includes 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.

[0042] The second aspect of the present application provides a control method for a shuttle robot, and this method is applied to the shuttle robot system according to any one of the first aspect;

[0043] When the track type of the shuttle robot changes, then control the side guide wheel set to rotate up and down and / or move in and out, change the position of the side guide wheels of the side guide wheel set, and realize the guidance of the shuttle robot walking on different types of tracks; specifically:

[0044] If the track where the shuttle robot travels has an inclined plane that bends inward at the upper edge of its side baffle, then control the up-and-down rotation and / or in-and-out movement of the side guide wheel set so that the side guide wheels are in contact with the inner upper edge inclined plane;

[0045] If the track where the shuttle robot travels has a 90-degree inward bend at the upper edge of its side baffle, then control the up-and-down rotation and / or in-and-out movement of the side guide wheel set so that the side guide wheels are in contact with the inner upper edge of the 90-degree bent side baffle;

[0046] If the height of the side baffle of the track where the shuttle robot travels is lower than the height from the chassis to the walking track surface, then control the up-and-down rotation and / or in-and-out movement of the side guide wheel set so that the side guide wheels are in contact with the inner side of the side baffle of the track;

[0047] When the shuttle robot needs to branch or merge, then control the lowering of the corresponding branch wheel set on the branch side or the merging side to achieve branching on the branch side or merging on the merging side.

[0048] Further, when there are three-way track branches at the branch end of the branch platform;

[0049] The branch control of the shuttle robot is as follows:

[0050] When the shuttle robot travels in a branched path, control the shuttle robot to enter the branch platform from the merging track interface, and control the positions of the branch wheel set and the side guide wheel set to achieve the branching of the shuttle robot. The specific steps are as follows:

[0051] If the shuttle robot travels in a straight branch path, then control the branch wheel sets on both sides of the shuttle robot to rise to a preset high position, control the side guide wheel sets on both sides of the shuttle robot to rotate to a preset low position. After the shuttle robot passes through the straight branch track, control the side guide wheel sets on both sides of the shuttle robot to rotate to a preset high position;

[0052] If the shuttle robot travels in a right branch path, then control the branch wheel set on the right side of the shuttle robot to descend to a preset low position. After the right branch of the shuttle robot is completed, control the branch wheel set on the right side of the shuttle robot to rise to a preset high position;

[0053] If the shuttle robot travels in a left branch path, then control the branch wheel set on the left side of the shuttle robot to descend to a preset low position. After the left branch of the shuttle robot is completed, control the branch wheel set on the left side of the shuttle robot to rise to a preset high position;

[0054] When the shuttle robot travels in a merged path, the control is as follows:

[0055] Control the shuttle robot to enter the shunt platform from the corresponding shunt section track interface, and control the positions of the shunt wheel set and the side guide wheel set to realize the shunting of the shuttle robot. The specific steps are as follows:

[0056] If the shuttle robot performs straight shunting walking, then control both shunt wheel sets on both sides of the shuttle robot to rise to a preset high position, control both side guide wheel sets on both sides of the shuttle robot to rotate to a preset low position. When the shuttle robot passes through the straight shunt track, control both side guide wheel sets on both sides of the shuttle robot to rotate to a preset high position;

[0057] If the shuttle robot performs right shunting walking, then control the right shunt wheel set of the shuttle robot to descend to a preset low position. When the right shunting of the shuttle robot is completed, control the right shunt wheel set of the shuttle robot to rise to a preset high position;

[0058] If the shuttle robot performs left shunting walking, then control the left shunt wheel set of the shuttle robot to descend to a preset low position. When the left shunting of the shuttle robot is completed, control the left shunt wheel set of the shuttle robot to rise to a preset high position.

[0059] The solution provided by this application has the following beneficial effects:

[0060] 1. The side guide wheel set of the shuttle robot in this application can rotate up and down and / or move in and out relative to the chassis of the shuttle robot, realizing the adjustment of the position of the side guide wheel set according to the track type, and being used to adapt to the track type to guide the shuttle robot for track walking. Therefore, the shuttle robot in this application solves the problem that the existing trolley has poor applicability to track types.

[0061] 2. Since the track is made of metal sheet metal and has a low cost, while the shuttle robot integrates power control and machinery and has a high cost, the shuttle robot system in this application is adapted to various types of track structures. Therefore, only the track needs to be changed and matched. Thus, the shuttle robot system in this application has a low cost and is widely used.

[0062] 3. The shuttle car robot in this application can not only be applied to the existing two-way shunt track, but also to the three-way shunt track. In the three-way shunt track, the height of the side baffle of the straight shunt track is lower than the height from the chassis of the shuttle robot to the walking track surface, and a gap for the walking wheel set of the shuttle robot to pass through for non-straight shunting is provided on the straight shunt track. By controlling the positions of the side guide wheel set and the shunt wheel set, the shuttle robot is coordinated to complete three-way walking, thus solving the problem that the existing trolley can only travel on the two-way shunt track.

[0063] 4. The track of the shuttle robot system of the present application is a pure mechanical structure without a track-changing structure and control. Therefore, the present application only realizes the track-changing action by controlling the shuttle robot, that is, the track of the present application has no electrification design and has the advantages of simple structure and easy maintenance.

[0064] 5. The ground shuttle driving mechanism and the track shuttle driving mechanism of the shuttle robot of the present application share the walking wheel set, and are correspondingly provided with side guide wheel sets and shunting wheel sets for auxiliary driving on the track, which can simultaneously meet the requirements of ground movement and track movement. Therefore, there is no need to stop for material transfer at the junction of the ground and the track, and the conveying can be directly carried out, thereby improving the efficiency of conveying and sorting. Brief Description of the Drawings

[0065] Figure 1 is a schematic diagram of the shuttle robot of the present application cooperating with the first type of track;

[0066] Figure 2 is an enlarged schematic diagram of the cooperation between the shuttle robot of the present application and the first type of track;

[0067] Figure 3 is a schematic diagram of the shuttle robot of the present application cooperating with the second type of track;

[0068] Figure 4 is an enlarged schematic diagram of the cooperation between the shuttle robot of the present application and the second type of track;

[0069] Figure 5 is a schematic diagram of the scene when the shuttle robot of the present application walks with two shunts;

[0070] Figure 6 is a schematic structural diagram of the shuttle robot of the present application cooperating with the third type of track;

[0071] Figure 7 is a schematic diagram of the track structure at a three-way shunting platform of the present application;

[0072] Figure 8 is a schematic diagram of the track structure of the sub-section at the connection with the three-way shunting platform of the present application;

[0073] Figure 9 is a schematic diagram of a three-way shunting platform structure of the present application;

[0074] Figure 10 is another schematic diagram of a three-way shunting platform structure of the present application.

[0075] 1 - Combined track section; 2 - Splitting platform, 21 - Combined track interface, 22 - Right splitting track, 221 - Right splitting track interface, 222 - Right splitting track body, 223 - Right combined splitting interface, 23 - Left splitting track, 231 - Left splitting track interface, 232 - Left splitting track body, 233 - Left combined splitting interface, 24 - Straight splitting track, 241 - Straight running track, 242 - Steering platform, 2421 - Groove, 2422 - Transition plate, 243 - First auxiliary straight edge, 2431 - First right edge, 2432 - Second right edge, 2433 - Third right edge, 2434 - Fourth right edge, 244 - Second auxiliary straight edge, 2441 - First left edge, 2442 - Second left edge, 2443 - Third left edge, 2444 - Fourth left edge; 3 - Splitting track section, 31 - Right splitting track, 32 - Straight splitting track, 33 - Left splitting track; 4 - Shuttle robot, 41 - Chassis, 42 - Running wheel set, 43 - Side guide wheel set, 431 - Side guide wheel, 4311 - Arc-shaped tread, 432 - Link, 4321 - Fixed rod, 4322 - Rotating rod, 44 - Splitting wheel set, 441 - Splitting wheel mounting bracket, 442 - Lifting rod, 45 - Steering wheel, 46 - Guide wheel. Detailed implementation manners

[0076] To make the objectives, technical solutions, and advantages of this application clearer, the following will further describe the implementation manners of this application in detail with reference to the accompanying drawings.

[0077] The implementation environment described in the embodiments of this application is to more clearly illustrate the technical solutions of the embodiments of this application, and does not constitute a limitation on the technical solutions provided by the embodiments of this application. Those of ordinary skill in the art know that the technical solutions provided by the embodiments of this application are equally applicable to similar technical problems in different implementation environments.

[0078] First, the shuttle robot system of this application will be introduced below. For the convenience of description, the orientation terms of this application, such as up, down, left, right, front, and back, are based on the orientation shown in the accompanying drawings unless otherwise specified. Please refer to Figure 1-10 the schematic diagram, which shows a schematic structural diagram of a shuttle robot system according to an embodiment of this application, and is specifically described as follows:

[0079] A shuttle robot system includes a shuttle robot 4. The structure of the shuttle robot 4 can be referred to Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 6The shown schematic diagram, its specific structure includes a side guide wheel set 43 and a shunt wheel set 44 for auxiliary traveling on the track. Among them, the side guide wheel set 43 can rotate up and down and / or move in and out relative to the chassis 41 of the shuttle robot 4, that is, 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 specific implementation structure is as follows. The side guide wheel set 43 includes side guide wheels 431, connecting rods 432, a telescopic mechanism, and a lifting mechanism. Among them, the connecting rod 432 includes a fixed rod 4321 and a rotating rod 4322. One end of the fixed rod 4321 is used to connect the side guide wheel 431, and the other end of the fixed rod 4321 is rotatably connected to the rotating rod 4322. The rotation fulcrum of the rotating rod 4322 uses a rotatable bushing, and a pin shaft, a rotating shaft or a universal joint device is arranged on the outer side of the bushing. Preferably, the rotation is realized by the cooperation of the pin shaft. When the height of the side edge of the track exceeds the height from the chassis 41 to the walking track surface, and the upper edge of the side edge of the track is an inclined surface that bends inward, then control the side guide wheel 431 of the side guide wheel set 43 to abut against the inner upper inclined surface. After the side guide wheel 431 abuts against the inner upper inclined surface, the center lines of the fixed rod 4321 and the rotating rod 4322 are straight lines, and the vertex or the upper side surface of the arc-shaped tread 4311 of the side guide wheel 431 abuts against the upper edge of the side edge of the track. The specific control method is as follows. When the upper edge of the side edge of the track is an inclined surface that bends inward and the side guide wheel 431 does not abut against the inner upper inclined surface, first control the side guide wheel set 43 to move inward relative to the chassis 41, so that when the side guide wheel set 43 is controlled to move upward relative to the chassis 41 in the second step, the side guide wheel 431 will not be blocked by the side wall of the track. Control the side guide wheel set 43 to move upward relative to the chassis 41 so that the tangent line of the vertex of the arc-shaped tread 4311 is basically parallel to or forms a certain angle with the upper edge of the side edge of the track. Finally, control the side guide wheel set 43 to move outward relative to the chassis 41, so as to realize the abutment of the vertex or the upper side surface of the arc-shaped tread 4311 of the side guide wheel 431 against the upper edge of the side edge of the track. Preferably, the upper side surface of the arc-shaped tread 4311 of the side guide wheel 431 is selected to abut against the upper edge of the side edge of the track. When one side of the shuttle robot 4 tilts or bounces, the upper side surface of the arc-shaped tread 4311 is not easy to slide out of the upper edge of the side edge of the track under the action of the tilting moment, so as to ensure the more stable traveling of the shuttle robot 4.

[0080] When the height of the side retaining edge of the track exceeds the height from the chassis 41 to the walking track surface, and the upper edge of the side retaining edge of the track is bent inward by 90 degrees, then control the side guide wheel 431 of the side guide wheel set 43 to abut against the inner side surface of the middle part of the side retaining edge of the track. The specific control method is as follows: when the upper edge of the side retaining edge of the track is bent inward by 90 degrees and the side guide wheel 431 does not abut against the inner side surface of the middle part of the side retaining edge of the track, first control the side guide wheel set 43 to move inward relative to the chassis 41 so that when the side guide wheel set 43 is controlled to move upward or downward relative to the chassis 41 in the second step, the side guide wheel 431 will not be blocked by the side wall of the track; if the side guide wheel set 43 is below the middle part of the side retaining edge of the track, control the side guide wheel set 43 to move upward relative to the chassis 41, and if the side guide wheel set 43 is above the middle part of the side retaining edge of the track, control the side guide wheel set 43 to move downward relative to the chassis 41 so that the vertex of the arc-shaped tread 4311 is aligned with the inner side surface of the middle part of the side retaining edge of the track, and finally control the side guide wheel set 43 to move outward relative to the chassis 41, thereby realizing the abutment of the vertex of the arc-shaped tread 4311 of the side guide wheel 431 against the inner side surface of the middle part of the side retaining edge of the track.

[0081] When the height of the side retaining edge of the track is lower than the height from the chassis 41 to the walking track surface and the upper edge of the side retaining edge of the track has no bend, then control the side guide wheel 431 of the side guide wheel set 43 to abut against the inner side surface of the side retaining edge of the track. The specific control method is as follows: when the upper edge of the side retaining edge of the track has no bend and the side guide wheel 431 does not abut against the inner side surface of the side retaining edge of the track, first control the side guide wheel set 43 to move inward relative to the chassis 41 so that when the side guide wheel set 43 is controlled to move upward or downward relative to the chassis 41 in the second step, the side guide wheel 431 will not be blocked by the side wall of the track; control the side guide wheel set 43 to move downward relative to the chassis 41 so that the vertex of the arc-shaped tread 4311 is aligned with the inner side surface of the side retaining edge of the track, and finally control the side guide wheel set 43 to move outward relative to the chassis 41, thereby realizing the abutment of the vertex of the arc-shaped tread 4311 of the side guide wheel 431 against the inner side surface of the side retaining edge of the track.

[0082] In addition, the telescopic mechanism of the present application is connected to the end of the rotating rod 4322 far from the connection with the fixed rod 4321, and is used to move the rotating rod 4322 in the bushing, so as to realize the inner and outer movement of the side guide wheel set 43 relative to the chassis 41. Specifically, the bushing is connected to the support member provided on the chassis 41 through movable connection means such as a pin shaft and a spherical plain bearing, and the connection position between the bushing and the support member is the rotation fulcrum. The lifting mechanism is connected to the rotating rod 4322 at a non-rotation fulcrum position, and is used to drive the end of the rotating rod 4322 connected to the fixed rod 4321 and the telescopic mechanism to rotate around the rotation fulcrum. Thus, when the end of the rotating rod 4322 connected to the fixed rod 4321 rotates upward around the rotation fulcrum, the side guide wheel 431 connected to the fixed rod 4321 also rotates upward accordingly; when the end of the rotating rod 4322 connected to the fixed rod 4321 rotates downward around the rotation fulcrum, the side guide wheel 431 connected to the fixed rod 4321 also rotates downward accordingly.

[0083] Further, the lifting mechanism adopts an electric cylinder, an electro-hydraulic rod, a cam lifting device or a worm lifting device. For example, when using an electric cylinder, the electric cylinder body is fixed on the chassis 41, and the push rod of the electric cylinder is connected to the rotating rod 4322. The working principle of the electro-hydraulic rod is the same as that of the electric cylinder and will not be elaborated here; when using a cam lifting device, it includes a cam and a push rod. One end of the push rod is connected to the rotating rod 4322, and the other end of the push rod acts on the cam to realize the rotation of the rotating rod 4322 around the rotation fulcrum; when using a worm and worm gear, one end of the worm is connected to the rotating rod 4322, and the other end of the worm cooperates with the worm gear to realize the up and down movement of the worm, so as to realize the rotation of the rotating rod 4322 around the rotation fulcrum. Of course, other lifting mechanisms can also be applied to this shuttle robot system, such as a rope lifting device, a pneumatic lifting device, a link mechanism lifting, etc., which will not be listed one by one in the present application.

[0084] Similarly, the telescopic mechanism adopts an electric cylinder, an electric hydraulic rod, a cam lifting device or a worm lifting device. For example, when using an electric cylinder, the push rod of the electric cylinder is connected to the rod end of the rotating rod 4322 along the axial direction. The cylinder block of the electric cylinder can be fixed by the bushing. Under the action of the push rod of the electric cylinder, the rotating rod 4322 moves back and forth along the axial direction of the bushing, realizing that the side guide wheel set 43 can move in and out relative to the chassis 41; the working principle of the electric hydraulic rod is the same as that of the electric cylinder and will not be elaborated here; when using a cam lifting device, it includes a cam and a push rod. One end of the push rod is connected to the rod end of the rotating rod 4322 along the axial direction, and the other end of the push rod acts on the cam. The cam can be connected to the bushing through a bracket. Under the action of the cam, the rotating rod 4322 moves back and forth along the axial direction of the bushing, realizing that the side guide wheel set 43 can move in and out relative to the chassis 41; when using a worm and worm gear, one end of the worm is connected to the rod end of the rotating rod 4322 along the axial direction, and the other end of the worm is engaged with the worm gear, or one end of the rotating rod 4322 is processed into a worm structure. The worm gear mechanism is connected to the bushing through a bracket. Under the action of the worm and worm gear, the side guide wheel set 43 can move in and out relative to the chassis 41. Of course, other mechanisms that can realize the in-and-out movement of the side guide wheel set 43 relative to the chassis 41 can also be applied to this shuttle robot system, such as a link reciprocating mechanism, a cam reciprocating mechanism, a gear reciprocating mechanism, etc., which will not be listed one by one in this application.

[0085] In a preferred solution, the rotational connection between the fixed rod 4321 and the rotating rod 4322 includes a pin rotational connection or a gear rotational connection. The preferred solution is a pin rotational connection. A lower retaining plate is provided below the connection of the rotating rod 4322 to the fixed rod 4321. The lower retaining plate extends to the fixed rod 4321 and is used to keep the center lines of the fixed rod 4321 and the rotating rod 4322 in a straight line when the side guide wheel 431 is located at the upper edge of the side stop of the track in a non-straight section, that is, the maximum included angle between the fixed rod 4321 and the rotating rod 4322 is 180 degrees, so as to ensure that the side guide wheel 431 can stably and continuously abut against the upper edge of the side stop of the track; an upper retaining plate is provided above the connection of the rotating rod 4322 to the fixed rod 4321. The upper retaining plate is shorter than the lower retaining plate. The function of the upper retaining plate is that after the rotating rod 4322 rotates downward, the maximum angle of rotation of the fixed rod 4321 around the rotating rod 4322 makes the fixed rod 4321 and the rotating rod 4322 form an obtuse angle, so that the side guide wheel 431 connected to the fixed rod 4321 is in a horizontal state.

[0086] In addition, when the upper edge of the side retaining edge of the track is bent inward by 90 degrees, 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 retaining edge of the track. In order to make the movement of the shuttle robot 4 more stable and prevent the side guide wheel 431 from losing its guiding function when it is located on the inner side surface of the middle part of the side retaining edge of the track, a guide wheel 46 in the vertical direction is further provided on the side surface of the chassis 41 of the present application. The mechanism of the guide wheel 46 can refer to Figure 6 the schematic diagram shown. The specific structure is that a support platform is installed on the side surface of the chassis 41, and elastic bodies such as springs, shrapnel or rubber columns are installed on the support platform. A rod body for restricting the upward movement distance of the guide wheel 46 is arranged in the elastic body. The wheel axis of the guide wheel 46 extends towards the chassis 41, and the end of the wheel axis is movably connected to the chassis 41. A through hole can be provided on the wheel axis body for the rod body to pass through. A structure for restricting the upward movement of the guide wheel 46 (such as screwing a bolt at the top of the rod body or providing a pin, etc.) is arranged on the rod body. The guide wheel 46 moves up and down along the rod body, and the elastic body is used to support the wheel axis of the guide wheel 46, so that the wheel axis of the guide wheel 46 returns to the top of the rod body after being in the running state or being under pressure.

[0087] Next, the track and application principle of the shuttle robot 4 of the present application will be introduced, which can be referred to in the attached Figure 5 and attached Figure 7-10 . The track includes a shunting platform 2. The merging end of the shunting platform 2 is used to connect the merging section track 1, and at least two track shunts are provided at the shunting end of the shunting platform 2 for connecting the shunting section tracks 3. When the track of the shunting platform 2 is a two-way shunting track, the schematic diagram shown in Figure 5 can be referred to. In this case, the track types of the shunting platform 2, the merging section track 1 and the shunting section track 3 are the same, that is, the height of the side retaining edge of the track exceeds the height from the chassis 41 to the walking track surface, and the upper edge of the side retaining edge of the track is an inclined surface bent inward or the upper edge of the side retaining edge of the track is bent inward by 90 degrees. When the trolley travels in this two-way shunting system, the position of the side guide wheel 431 does not change no matter at any position in the shunting platform 2, the merging section track 1 and the shunting section track 3. Only when the shuttle robot travels to the shunting platform 2 for shunting and merging, by controlling the lifting of the shunting wheel group 44 on the corresponding shunting side or merging side, the shunting on the shunting side or the merging on the merging side can be realized. The specific principle and control method of two-way shunting can also be referred to the priority document of the present application, which will not be elaborated here.

[0088] Next, the present application will introduce in detail the structure and principle when the track of the shunting platform 2 is a three-way shunting track, which can be referred to in the attached Figure 7 and attached Figure 8 and attached Figure 9 and attachedFigure 10 At the diverging end of the diverging platform 2, there are three track divergences, which include a right diverging track 22, a left diverging track 23, and a straight diverging track 24. The height of the track side guardrail of the left diverging track and the height of the track side guardrail of the right diverging track both exceed the height from the chassis 41 to the walking track surface. The upper edges of the side guardrails of the left diverging track and the right diverging track both adopt an inwardly curved inclined plane or are bent 90 degrees inward. The height of the track side guardrail of the straight diverging track is lower than the height from the chassis 41 to the walking track surface, and a gap for the walking wheel set 42 of the shuttle robot 4 to pass through for left diverging walking and right diverging walking is provided on the track side guardrail of the straight diverging track. Specifically, the right diverging track 22 and the left diverging track 23 of the diverging platform 2 are connected to the straight diverging track 24 at the converging end to obtain a converging track interface 21. The shuttle robot 4 enters or exits the converging section track 1 through the converging track interface 21. The straight diverging track 24 includes a straight walking track 241, and a steering platform 242 for non-straight diverging for the walking wheel set 42 of the shuttle robot 4 to turn and walk is arranged in the straight walking track 241. Specifically, the converging end of the diverging platform 2, that is, the right diverging converging interface 223, the left diverging converging interface 233, and the port at the connection of the straight diverging track 24, is connected to the converging section track 1. If the driving direction of the shuttle robot 4 is from the converging section track 1 to the diverging platform 2, it is defined as diverging driving. If the driving direction of the shuttle robot 4 is from the diverging platform 2 to the converging section track 1, it is defined as converging driving. The shuttle robot 4 traveling from the right diverging track 22, the left diverging track 23, and the straight diverging track 24 to the converging section track 1 all enters the converging section track 1 through this port.

[0089] At the diverging end of the diverging platform 2, there are three diverging track interfaces, namely a right diverging track interface 221, a left diverging track interface 231, and the end of the straight walking track 241 at the diverging end, for connecting each diverging section track 3. Specifically, the diverging section track 3 includes a right diverging track 31, a straight diverging track 32, and a left diverging track 33. The right diverging track interface 221 is connected to the right diverging track 31, the end of the straight walking track 241 at the diverging end is connected to the straight diverging track 32, and the left diverging track interface 231 is connected to the left diverging track 33. Therefore, if the shuttle robot 4 needs to travel from the converging section track 1 to the right diverging track 31, it is necessary to control the shuttle robot 4 to perform right diverging and enter the right diverging track 31 through the right diverging track interface 221. The same applies to other left diverging and straight diverging situations and will not be elaborated here.

[0090] In order to enable the shuttle robot 4 to complete straight-line and branch walking, the branch platform 2 includes left and right branch platforms and a straight-line branch track 24. That is, the straight-line branch track 24 is between the right branch track 22 and the left branch track 23. The right branch track 22 and the left branch track 23 are provided with track side edges on their respective corresponding branch sides. That is, the right branch track 22 is provided with a track side edge on the right side in the branch direction, and the left branch track 23 is provided with a track side edge on the left side in the branch direction. The structure of this side edge is the same as that of the side edge of the combined section track 1, that is, the upper edge of this side edge adopts an inwardly inclined slope structure. The right branch track 22 and the left branch track 23 are not provided with track side edges on their respective non-branch sides. The straight-line branch track 24 includes a straight-line walking track 241. A steering platform 242 for the walking wheel set 42 of the shuttle robot 4 to turn and walk during non-straight-line branching is arranged in the straight-line walking track 241. Among them, the steering platform 242 is a plate-shaped platform arranged between the straight tracks of the straight-line walking track 241. After the steering platform 242 is installed in place, the upper surface of its platform is flush with the track walking surface of the straight-line walking track 241. In addition, the straight-line branch track 24 is also provided with a side edge, which is arranged at the edge of the straight-line walking track 241. Preferably, this side edge is integrally formed with the track surface of the straight-line walking track 241. The height of this side edge is lower than the height from the chassis 41 of the shuttle robot 4 to the straight-line walking track 241. A gap for the walking wheel set 42 of the shuttle robot 4 to pass through during non-straight-line branching is opened on this side edge. Therefore, a gap matching the track of the walking wheel set 42 is provided on the side edge on one side of the straight-line walking track 241, which can be passed by the walking wheel sets 42 on the branch side and the non-branch side, enabling the walking wheel set 42 to pass through the straight-line walking track 241 and walk onto the track on the branch platform.

[0091] The shuttle robot 4 further includes side guide wheel sets 43 and branch wheel sets 44 for auxiliary driving on the track. When the shuttle robot 4 travels on the combined section track 1, the right branch track 31, the straight-line branch track 32, or the left branch track 33, the side guide wheel sets 43 on both sides of the shuttle robot 4 abut against the upper edges of the inner sides of the side edges of the combined section track 1, the right branch track 31, the straight-line branch track 32, and the left branch track 33. Thus, by using the acting force between the upper edges of the inner sides of the side edges at the above positions and the side guide wheel sets 43, the shuttle robot 4 is stably maintained within the track. When the shuttle robot 4 has a tendency to tilt due to inconsistent forces at both ends, the upper edges of the inner sides of the side edges at the above positions transmit a thrust to the shuttle robot housing 4 through the side guide wheel sets 43, thereby maintaining the stability of the shuttle robot 4 within the track and preventing derailment.

[0092] In addition, the side guide wheel set 43 of the present application includes a side guide wheel 431 and a connecting rod 432. The side guide wheel set 43 can rotate up and down relative to the chassis 41 of the shuttle robot 4. When performing a straight-line branch, the side guide wheel set 43 rotates downward, and the side guide wheel 431 of the side guide wheel set 43 abuts against the inner side wall of the straight-line branch track 24, that is, the side guide wheel 431 abuts against the side stop edge of the above-mentioned straight-line branch track 24. During use, since the height of the inner side wall of the straight-line branch track 24 is lower than the height from the chassis 41 of the shuttle robot 4 to the straight-line walking track 241, the side guide wheel 431 is rotated to a low position before entering the straight-line walking track 241. In addition, the side guide wheel 431 rotates upward or downward, that is, the side guide wheel 431 adopts the arc-shaped tread 4311, and the wheel vertex at the arc vertex of the arc-shaped tread 4311 performs a circular motion.

[0093] In summary, when performing a non-straight-line branch, lowering the branch wheel set 44 on the corresponding branch side can achieve the branch on this branch side. When the shuttle robot 4 branches and walks, control the shuttle robot 4 to enter the branch platform 2 from the combined track interface, and control the positions of the branch wheel set 44 and the side guide wheel set 43 to achieve the branch of the shuttle robot 4. The specific steps are as follows:

[0094] If the shuttle robot 4 performs a straight-line branch and walks, then control the branch wheel sets 44 on both sides of the shuttle robot 4 to rise to a preset high position. This high position is a preset configuration position, usually the lowest position of the branch wheel set 44 is higher than the track. Preferably, the lowest position of the branch wheel set 44 is 5-20 mm higher than the track. Control the side guide wheel sets 43 on both sides of the shuttle robot 4 to rotate to a preset low position. This low position is a preset configuration position, usually the lowest position of the side guide wheel 431 is higher than the track walking surface and lower than the height of the side stop edge of the straight-line branch track 24, that is, this preset low position is that the vertices of the arc-shaped treads 4311 of the side guide wheels 431 on both sides of the shuttle robot 4 respectively abut against the first auxiliary straight-line stop edge 243 and the second auxiliary straight-line stop edge 244. After the shuttle robot 4 passes through the straight-line branch track 2, control the side guide wheel sets 43 on both sides of the shuttle robot 4 to rotate to a preset high position. This 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 side stop edge of the non-straight-line branch section of the track.

[0095] When the shuttle robot 4 travels along the right branch path, the branch 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 position, usually where the branch wheel set 44 can cooperate with the side of the track. That is, when the shuttle robot 4 travels along the right branch path, affected by the centripetal force, the shuttle robot 4 will shift to the left. Therefore, the acting force of the side of the track on the branch wheel set 44 resists the centripetal force that makes the shuttle robot 4 shift to the left. After the right branch path of the shuttle robot 4 is completed, the branch wheel set 44 on the right side of the shuttle robot 4 is controlled to rise to a preset high position, which is a preset position, usually where the lowest position of the branch wheel set 44 is higher than the track. Preferably, the lowest position of the branch wheel set 44 is 5 - 20 mm higher than the track. In addition, the side guide wheel sets 43 on both sides of the shuttle robot 4 are in the preset high position when traveling on non-straight branch sections (that is, when the shuttle robot 4 travels on the combined section track 1, branch section track 2, right branch track 22, and left branch track 23), that is, the side guide wheels 431 can stably and continuously abut against the upper edge of the side baffle of the track in the non-straight branch section.

[0096] When the shuttle robot 4 travels along the left branch path, the branch wheel set 44 on the left side of the shuttle robot 4 is controlled to descend to a preset low position. After the left branch path of the shuttle robot 4 is completed, the branch wheel set 44 on the left side of the shuttle robot 4 is controlled to rise to a preset high position. In addition, the side guide wheel sets 43 on both sides of the shuttle robot 4 are in the preset high position. The principle of traveling along the left branch path is the same as that of traveling along the right branch path, so it will not be elaborated here.

[0097] When the shuttle robot travels along the combined path, the shuttle robot 4 is controlled to enter the branch platform 2 from the corresponding branch section track interface, and the positions of the branch wheel set 44 and the side guide wheel set 43 are controlled to achieve the combination of the shuttle robot 4. The specific steps are as follows:

[0098] When the shuttle robot 4 travels along the straight combined path, the branch wheel sets 44 on both sides of the shuttle robot 4 are controlled to rise to a preset high position, and the side guide wheel sets 43 on both sides of the shuttle robot 4 are controlled to rotate to a preset low position. After the shuttle robot passes through the straight branch 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. The position changes and the explanations of each term in this straight combined path process are the same as those in the straight branch path process, and the straight combined path process is the reverse process of the straight branch path process, and their principles are the same, so it will not be elaborated here.

[0099] When the shuttle robot 4 performs right combined-path walking, the split-wheel set 44 on the right side of the shuttle robot 4 is controlled to descend to a preset low position. After the right combined-path of the shuttle robot 4 is completed, the split-wheel set 44 on the right side of the shuttle robot is controlled to ascend to a preset high position. The position changes and explanations of each term in this right combined-path process are the same as those in right split-path driving, and the right combined-path process is the reverse process of the right split-path process with the same principle, which will not be elaborated here.

[0100] When the shuttle robot 4 performs left combined-path walking, the split-wheel set 44 on the left side of the shuttle robot 4 is controlled to descend to a preset low position. After the left combined-path of the shuttle robot 4 is completed, the split-wheel set 44 on the left side of the shuttle robot 4 is controlled to ascend to a preset high position. The position changes and explanations of each term in this left combined-path process are the same as those in left split-path driving, and the left combined-path process is the reverse process of the left split-path process with the same principle, which will not be elaborated here.

[0101] In summary, in this application, the height of the side baffle of the straight split-path track 24 is lower than the height from the chassis 41 of the shuttle robot 4 to the walking track surface, and gaps are provided on the straight split-path track 24 for the walking wheel sets of the shuttle robot 4 to pass through during non-straight split-path. By controlling the positions of the side guide wheel set 43 and the split-wheel set 44, the shuttle robot is coordinated to complete three-way split-path walking, thus solving the problem that existing small vehicles can only travel on two-way split-path tracks. In addition, the track of the shuttle robot system in this application is a pure mechanical structure without a track-changing structure and control. Therefore, in this application, only by controlling the shuttle robot 4 can the track-changing action be realized, that is, the track of this application has no electrification design and has the advantages of simple structure and easy maintenance.

[0102] In addition to the above, the shuttle robot 4 in this application can also be used for logistics transportation on the ground, that is, the shuttle robot 4 in this application can walk on the ground and the track. The driving mechanism for ground shuttling when the shuttle robot 4 travels on the ground and the track shuttle driving mechanism for driving the robot to travel on the track share the walking wheel sets 42 provided on both sides of the chassis 41. Preferably, the walking wheel sets 42 on both sides of the chassis 41 are respectively connected to independent power sources for driving. When the shuttle robot 4 moves on the ground or on the track, the movement of the shuttle robot can be driven by the cooperation of the walking wheel sets 42 with the ground or the surface of the track, and the ground walking steering can be realized by differential driving of the two wheels without separately setting a driving mechanism, thus reducing the structural complexity of the shuttle robot, reducing the volume, and meeting the rapid transportation and sorting requirements of various types of warehousing logistics transportation systems; at the same time, using the same driving wheel without deceleration switching at the junction can enable the shuttle robot to run continuously at high speed.

[0103] In a preferred embodiment, the shuttle robot 4 of the present application is further provided with a steering wheel 45. When the robot moves on the ground, the steering wheel 45 and the walking wheel set 42 are in contact with the ground at the same time; the steering wheel 45 is arranged diagonally below the robot chassis 41. The steering wheel 45 can be a non-powered wheel. The diagonal arrangement below the robot chassis 41 is to enable the shuttle robot to walk forward and backward in a balanced and stable manner on the ground. The steering wheels 45 arranged in the front and rear diagonal directions and the walking wheel set 42 form a stable triangular relationship. In addition, in order to further improve the stability of the shuttle robot 4 when walking on the track or on the ground, the side guide wheel set 43 and the shunt wheel set 44 are both located on the front and rear sides of the walking wheel set 42 and are symmetrically arranged with the axis of the rotating shaft of the driving wheel 2 as the center.

[0104] In a preferred embodiment, the steering wheel 45 of the present application is not only used to improve the stability of the shuttle robot 4 when walking on the ground, but also to assist in straight-line split-merge path walking. The present application further introduces the structure of the split path platform 2, and then elaborates on the principle of its straight-line split-merge path in combination with the mechanism of the split path platform 2 and the steering wheel 45 of the shuttle robot 4. The side edges of the straight split path track 24 of the present application include a first auxiliary straight edge 243 and a second auxiliary straight edge 244; the first auxiliary straight edge 243 and the second auxiliary straight edge 244 are centrosymmetric about the center of the straight split path track 24, and both the first auxiliary straight edge 243 and the second auxiliary straight edge 244 are provided with gaps for the traveling wheel set 42 and the steering wheel 45 to pass through. Next, the right split path direction will be introduced. Specifically, the first auxiliary straight edge 243 includes a first right edge 2431, a second right edge 2432, a third right edge 2433, and a fourth right edge 2434 arranged in sequence according to the split path direction. There is a gap between the first right edge 2431 and the right track of the right split path track 22, and this gap is used for the right traveling wheel set 42 of the shuttle robot 4 to pass through. The gap between the first right edge 2431 and the second right edge 2432 is used for the right steering wheel 45 of the shuttle robot 4 to pass through. The gap between the second right edge 2432 and the third right edge 2433 is used for the left steering wheel 45 of the shuttle robot 4 to pass through. The gap between the third right edge 2433 and the fourth right edge 2434 is used for the left traveling wheel set 42 of the shuttle robot 4 to pass through. Next, the left split path direction will be introduced. Specifically, the second auxiliary straight edge 244 includes a first left edge 2441, a second left edge 2442, a third left edge 2443, and a fourth left edge 2444 arranged in sequence according to the split path direction. There is a gap between the first left edge 2441 and the left track of the left split path track 23, and this gap is used for the left traveling wheel set 42 of the shuttle robot 4 to pass through. The gap between the first left edge 2441 and the second left edge 2442 is used for the left steering wheel 45 of the shuttle robot 4 to pass through. The gap between the second left edge 2442 and the third left edge 2443 is used for the right steering wheel 45 of the shuttle robot 4 to pass through. The gap between the third left edge 2443 and the fourth left edge 2444 is used for the right traveling wheel set 42 of the shuttle robot 4 to pass through.

[0105] For the walking wheel set 42 and the steering wheel 45 of the shuttle robot 4 of the present application to ensure that the carried items are horizontal, the walking wheel set 42 and the steering wheel 45 can be on the same horizontal plane. There is a groove 2421 on the steering platform 242 that restricts the rotation of the steering wheel 45 and is used to assist in keeping the shuttle robot 4 walking straight when going straight and branching. This is because there is a gap on the straight branching track 24 for the walking wheel set 42 of the shuttle robot 4 to pass through during non-straight branching. When there are differences in the driving speeds of the walking wheel sets 42 on both sides or differences in the friction coefficients of the track walking surfaces, etc., it will cause the shuttle robot 4 to deflect from a straight line when walking on the track surface. Since there is an inward bend along the upper edge of the track sidewall during left and right branching, the shuttle robot 4 can travel in a straight line by the action of the side guide wheel sets 43 on both sides and the upper edge of the inner sidewall of the track bend. However, there is a gap on the straight branching track 24 for the walking wheel set 42 and the steering wheel 45 of the shuttle robot 4 to pass through during non-straight branching. Therefore, to prevent the shuttle robot 4 from being stuck by this gap when walking on the straight branching track, one end of the steering platform 242 can extend all the way to the interface with the combined section track 1. Therefore, one end of the groove 2421 provided on the steering platform 242 can also extend all the way to the interface with the combined section track 1, and the other end of the steering platform 242 can extend all the way to the end of the gap. Therefore, the other end of the groove 2421 provided on the steering platform 242 can also extend to the end of the gap. At the same time, since the steering wheel 45 is arranged diagonally under the robot chassis 41 and is located at the front and rear ends of the chassis 41, after the shuttle robot 4 travels from the combined section track 1 to the straight branching track 24, the steering wheel 45 enters the groove 2421 to limit and correct the deviation that occurs when the shuttle robot 4 is going straight. Further, transition plates 2422 are provided at both ends of the groove 2421. One end of the transition plate 2422 is flush with the groove 2421, and the other end of the transition plate 2422 extends downward to the bottom of the groove, which is used to enable the steering wheel 45 to smoothly enter or exit the groove 2421.

[0106] When the left-right splitting occurs, the steering wheel 45 needs to drive out from the side of the groove 2421. The cooperation between the steering wheel 45 and the groove 2421 only assists the shuttle robot 4 to pass through the gap opened on the straight path. The straight running mainly depends on the cooperation between the side guide wheel set 43 and the side baffle of the straight path track. Therefore, the depth of the groove 2421 should not be too high, and its depth is generally 1-3 mm. Moreover, the edge of the groove 2421 is provided with a rounded chamfer, which facilitates the steering wheel 45 to smoothly and quickly drive out from the side of the groove 2421 under the action of the path splitting wheel set 44. When the left-right splitting occurs, due to the action of the path splitting wheel set 44 and the non-straight path track, when the walking wheel set 42 on the non-path splitting side passes through the groove 2421, the walking wheel set 42 on this side is in a suspended state.

[0107] In a preferred solution, when the center of gravity of the item carried by the shuttle robot 4 of the present application is behind the driving direction, it is possible that the steering wheel 45 located in the walking direction is suspended on the groove 2421, resulting in the steering wheel 45 being unable to smoothly adhere to the bottom wall of the groove 2421, thus losing the purpose of assisting in straight path splitting. Therefore, the straight path track 24 is set as a downwardly curved surface, and the slope of the straight path track 24 does not exceed 5%. The preferred slopes are 2% and 3%. The slope should not be too large, as an excessive slope may cause the carried item to move on the shuttle robot 4 and the shuttle robot 4 to slip easily when climbing the slope. When the straight path track 24 has a downwardly curved surface, even if the center of gravity of the carried item is behind the driving direction, the gravity of the item has a forward component force, thereby reducing a part of the gravity, making the center of gravity of the carried item move forward a little in the driving direction, so that when the steering wheel 45 enters the groove 2421, it can adhere to the bottom wall of the groove 2421.

[0108] In a preferred solution, guide plates arranged along their respective steering and walking directions are provided between the gaps of the first auxiliary straight baffle 243 and between the gaps of the second auxiliary straight baffle 244, that is, the free end of the guide plate is inclined inward along the steering direction, as Figure 4 shown in the schematic diagram. The main function of the guide plate is that even if the trolley is offset between the gaps, after the side guide wheel 431 touches the guide plate inclined inward along the steering direction, the side guide wheel 431 will not be stuck between the gaps. In addition, the guide plate also has the function of guiding the side guide wheel 431 to resume straight path splitting or straight path merging. In addition, when the left-right splitting and merging occur, due to the action of the side guide wheel set 43 and the path splitting wheel set 44, the shuttle robot 4 runs stably, and the running tracks of its walking wheel set 42 and steering wheel 45 are fixed. Therefore, the gap between the two guide plates inclined inward along the steering direction is set to be greater than the wheel width to be passed.

[0109] In summary, the present application controls the shuttle robot system without adding an additional structure specifically for straight path splitting. By only controlling the left and right path splitting side guide wheel sets and the path splitting wheel set, and cooperating with the path splitting platform structure, the shuttle robot can complete three-way path splitting walking. Therefore, the shuttle robot of the present application has the advantages of compact structure, small volume, and low cost. In addition, the ground shuttle driving mechanism and the rail shuttle driving mechanism of the shuttle robot of the present application share the walking wheel set, and are correspondingly provided with side guide wheel sets and path splitting wheel sets for auxiliary driving on the rail, which can simultaneously meet the requirements of ground movement and rail movement. Thus, there is no need to stop the machine for material transfer at the ground-rail junction, and the conveying can be directly carried out, thereby improving the efficiency of conveying and sorting.

[0110] The second aspect of the present application provides a control method for a shuttle robot, and this method is applied to the shuttle robot system described in any one of the first aspects;

[0111] When the track type that the shuttle robot walks on changes, then control the side guide wheel set to rotate up and down and / or move in and out, change the position of the side guide wheels of the side guide wheel set, and realize the guiding of the shuttle robot walking on different types of tracks; specifically:

[0112] If the track that the shuttle robot walks to has an inclined surface with an inwardly curved upper edge on its side baffle, then control the side guide wheel set to rotate up and down and / or move in and out, so that the side guide wheels are in contact with the inner upper edge inclined surface;

[0113] If the track that the shuttle robot walks to has a 90-degree inward bend on the upper edge of its side baffle, then control the side guide wheel set to rotate up and down and / or move in and out, so that the side guide wheels are in contact with the inner upper edge of the 90-degree bent side baffle;

[0114] If the height of the side baffle of the track that the shuttle robot walks to is lower than the height from the chassis to the walking track surface, then control the side guide wheel set to rotate up and down and / or move in and out, so that the side guide wheels are in contact with the inner side of the side baffle of the track;

[0115] When the shuttle robot needs to split or merge paths, then control the path splitting wheel set on the corresponding path splitting side or merging side to descend, and realize the path splitting on the path splitting side or the path merging on the merging side.

[0116] Further, when there is a three-way track split at the split end of the path splitting platform;

[0117] The path splitting control of the shuttle robot is as follows:

[0118] When the shuttle robot splits paths and walks, control the shuttle robot to enter the path splitting platform from the merging track interface, and control the positions of the path splitting wheel set and the side guide wheel set to realize the path splitting of the shuttle robot. The specific steps are as follows:

[0119] When the shuttle robot performs straight-line branch walking, control both of the branch wheel sets on both sides of the shuttle robot to rise to a preset high position, control both of the side guide wheel sets on both sides of the shuttle robot to rotate to a preset low position, and when the shuttle robot passes through the straight-line branch track, control both of the side guide wheel sets on both sides of the shuttle robot to rotate to a preset high position;

[0120] When the shuttle robot performs right-branch walking, control the branch wheel set on the right side of the shuttle robot to descend to a preset low position, and when the right-branch of the shuttle robot is completed, control the branch wheel set on the right side of the shuttle robot to rise to a preset high position;

[0121] When the shuttle robot performs left-branch walking, control the branch wheel set on the left side of the shuttle robot to descend to a preset low position, and when the left-branch of the shuttle robot is completed, control the branch wheel set on the left side of the shuttle robot to rise to a preset high position;

[0122] When the shuttle robot performs combined-path walking, the control is as follows:

[0123] Control the shuttle robot to enter the branch platform from the corresponding branch section track interface, and control the positions of the branch wheel set and the side guide wheel set to achieve combined-path of the shuttle robot. The specific steps are as follows:

[0124] When the shuttle robot performs straight-line combined-path walking, control both of the branch wheel sets on both sides of the shuttle robot to rise to a preset high position, control both of the side guide wheel sets on both sides of the shuttle robot to rotate to a preset low position, and when the shuttle robot passes through the straight-line branch track, control both of the side guide wheel sets on both sides of the shuttle robot to rotate to a preset high position;

[0125] When the shuttle robot performs right combined-path walking, control the branch wheel set on the right side of the shuttle robot to descend to a preset low position, and when the right combined-path of the shuttle robot is completed, control the branch wheel set on the right side of the shuttle robot to rise to a preset high position;

[0126] When the shuttle robot performs left combined-path walking, control the branch wheel set on the left side of the shuttle robot to descend to a preset low position, and when the left combined-path of the shuttle robot is completed, control the branch wheel set on the left side of the shuttle robot to rise to a preset high position.

[0127] In addition, in the description of the present application, unless otherwise specified, "a plurality of" means two or more. Additionally, for the convenience of clearly describing the technical solutions of the embodiments of the present application, in the embodiments of the present application, terms such as "first" and "second" are used to distinguish identical or similar items with basically the same functions and roles. Those skilled in the art can understand that terms such as "first" and "second" do not limit the quantity and execution order, and terms such as "first" and "second" do not necessarily limit being different. The embodiments of the present application described above do not constitute a limitation on the protection scope of the present application.

Claims

1. A shuttle robot system, characterized in that: Including shuttle robot (4), The shuttle robot (4) comprises a side guide wheel group (43) and a branch wheel group (44) for assisting travel on a track, wherein the side guide wheel group (43) can rotate up and down and / or move inward and outward relative to the chassis (41) of the shuttle robot (4), so as to adjust the position of the side guide wheel group (43) according to the type of track, and is used to adapt the track type to guide the shuttle robot (4) to travel on the track; The branching wheel set (44) can move vertically up and down relative to the chassis (41) of the shuttle robot (4), and is used to lower the branching wheel set (44) corresponding to the branching side or the merging side when the track is branched or merged, so as to realize the branching of the branching side or the merging of the merging side.

2. The shuttle robot system according to claim 1, characterized in that: The side guide wheel group (43) can rotate up and down and / or move in and out relative to the chassis (41) of the shuttle robot (4), including: The side guide wheel assembly (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 to connect the side guide wheel (431), and the other end of the fixed rod (4321) is rotatably connected to the rotating rod (4322); The rotating fulcrum of the rotating rod (4322) is a rotatable sleeve, and a pin, a rotating shaft or a universal joint device is arranged on the outer side of the sleeve; The telescopic mechanism is connected to an end of the rotating rod (4322) away from the end connected to the fixed rod (4321), and is used to enable the rotating rod (4322) to move in the shaft sleeve, so that the side guide wheel group (43) can move inward and outward relative to the chassis (41); The lifting mechanism is used to drive the end of the rotating rod (4322) connected to the fixed rod (4321) and the telescopic mechanism to rotate around the rotating fulcrum.

3. The shuttle robot system according to claim 2, characterized in that: The lifting mechanism adopts an electric cylinder, an electric hydraulic rod, a cam lifting device or a worm lifting device; The telescopic mechanism adopts an electric cylinder, an electric hydraulic rod, a cam lifting device or a worm lifting device.

4. The shuttle robot system according to claim 3, characterized in that: The method of adjusting the position of the side guide wheel set (43) according to the track type comprises: When the height of the side guard of the track exceeds the height from the chassis (41) to the walking track surface, and the upper edge of the side guard of the track is an inwardly curved inclined surface, the side guide wheel (431) of the side guide wheel assembly (43) is controlled to abut against the inner upper edge inclined surface; When the height of the side rib of the track exceeds the height from the chassis (41) to the walking track surface, and the upper edge of the side rib of the track is bent inwardly by 90 degrees, the side guide wheels (431) of the side guide wheel assembly (43) are controlled to abut against the inner side surface of the middle portion of the side rib of the track; When the height of the side guard of the track is lower than the height from the chassis (41) to the walking track surface, and the upper edge of the side guard of the track is not bent, the side guide wheels (431) of the side guide wheel group (43) are controlled to rotate until they abut against the inner wall of the track.

5. The shuttle robot system according to claim 4, characterized in that: The track comprises a branching platform (2), the junction end of the branching platform (2) is used to connect the junction section track (1), and the branching end of the branching platform (2) is provided with at least two track branches for connecting the branch section track (3).

6. The shuttle robot system according to claim 5, characterized in that: The branching end of the branching platform (2) is provided with two track branches, and the track branches include a straight branch track and a branch track; The height of the side ribs of the straight branch track and the height of the side ribs of the branch track both exceed the height from the chassis (41) to the running track surface; The upper edge of the side guard of the straight branch track and the upper edge of the side guard of the branch track are both inclined surfaces curved inwards or curved inwards by 90 degrees.

7. The shuttle robot system according to claim 6, characterized in that: When the upper edge of the side guard of the straight branch track and the upper edge of the side guard of the branch track are both bent inwardly at 90 degrees, a guide wheel (46) along the vertical direction is also provided on the side of the chassis (41). The guide wheel (46) moves up and down in the vertical direction under the action of a spring, and the guide wheel (46) abuts against the inner upper edge of the side guard bent at 90 degrees.

8. The shuttle robot system according to claim 5, characterized in that: The branching end of the branching platform (2) is provided with a three-way track branch, the track branch includes a right branch track (22), a left branch track (23) and a straight branch track (24); The height of the side ribs of the left branch track and the height of the side ribs of the right branch track both exceed the height from the chassis (41) to the walking track surface, and the upper edges of the side ribs of the left branch track and the upper edges of the side ribs of the right branch track both adopt inwardly curved inclined surfaces or inwardly curved 90 degrees; The height of the track side ribs of the straight branch track is lower than the height from the chassis (41) to the walking track surface, and the track side ribs of the straight branch track are provided with gaps for left branch walking and right branch walking for the walking wheel group (42) of the shuttle robot (4) to pass through.

9. The shuttle robot system according to claim 8, characterized in that: The right branch track (22) and the left branch track (23) are connected to the straight branch track (24) at the combined end to obtain a combined track interface (21), and the shuttle robot (4) enters or exits the combined track section (1) through the combined track interface (21).

10. The shuttle robot system according to claim 9, characterized in that: The straight branch track (24) comprises a straight travel track (241), and a steering platform (242) is arranged in the straight travel track (241) for steering the travel wheel set (42) when the travel is in a non-straight branch path.

11. The shuttle robot system according to claim 10, characterized in that: The shuttle robot (4) is also provided with a steering wheel (45). When the robot moves on the ground, the steering wheel (45) and the walking wheel set (42) are in contact with the ground at the same time. The steering wheel (45) is arranged below the robot chassis (41) along a diagonal direction. The steering platform (242) is provided with a groove (2421) for limiting the rotation of the steering wheel (45), and is used to assist in maintaining the shuttle robot (4) walking straight when the straight-line route is divided.

12. The shuttle robot system according to claim 11, characterized in that: Transition plates (2422) are provided at both ends of the groove (2421) for enabling the steering wheel (45) to smoothly enter or exit the groove (2421).

13. The shuttle robot system according to claim 12, characterized in that: The depth of the groove (2421) is 1-3 mm, and the edge of the groove (2421) is chamfered in an arc shape.

14. The shuttle robot system according to claim 13, characterized in that: The straight branch track (24) is bent downward, and the slope of the straight branch track (24) does not exceed 5%.

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

16. The shuttle robot system according to claim 15, characterized in that: The side ribs of the straight branch track (24) include a first auxiliary straight rib (243) and a second auxiliary straight rib (244); The first auxiliary straight rib (243) and the second auxiliary straight rib (244) are symmetrical about the center of the straight branch track (24), and the first auxiliary straight rib (243) and the second auxiliary straight rib (244) are both provided with a gap for the walking wheel set (42) and the steering wheel (45) to pass through.

17. The shuttle robot system according to claim 16, characterized in that: A guide plate arranged along the respective turning and traveling directions is provided between the gap of the first auxiliary straight-moving rib (243) and the gap of the second auxiliary straight-moving rib (244).

18. The shuttle robot system according to any one of claims 1 to 17, characterized in that: The splitter wheel assembly (44) comprises a splitter wheel mounting frame (441) and a lifting rod (442); the splitter wheel mounting frame (441) is lifted and lowered vertically along the lifting rod (442) under the action of a power source.

19. A shuttle robot control method, characterized in that: The method is applied to the shuttle robot system according to any one of claims 1 to 18; When the type of track on which the shuttle robot walks changes, the side guide wheel group is controlled to rotate up and down and / or move in and out, and the position of the side guide wheels of the side guide wheel group is changed to guide the shuttle robot walking on different types of tracks; specifically: If the track to which the shuttle robot walks has an inwardly curved upper edge of its side guard, the side guide wheel assembly is controlled to rotate up and down and / or move in and out, so that the side guide wheel abuts against the inner upper edge inclined surface; If the shuttle robot walks on a track where the upper edge of its side rib is bent inward at 90 degrees, the side guide wheel assembly is controlled to rotate up and down and / or move inward and outward, so that the side guide wheel abuts against the inner upper edge of the side rib bent at 90 degrees; If the shuttle robot walks to a track whose side rib height is lower than the height from the chassis to the walking track surface, the side guide wheel assembly is controlled to rotate up and down and / or move in and out, so that the side guide wheel abuts against the inner side of the side rib of the track; When the shuttle robot needs to split or merge roads, the splitting wheel set corresponding to the splitting side or the merging side is controlled to be lowered to realize the splitting of the splitting side or the merging of the merging side.

20. The shuttle robot control method according to claim 19, characterized in that: When the branching end of the branching platform is provided with three-way track branching; The branch control of the shuttle robot is as follows: When the shuttle robot walks in a branching manner, the shuttle robot is controlled to enter the branching platform from the combined track interface, and the positions of the branching wheel group and the side guide wheel group are controlled to realize the branching of the shuttle robot. The specific steps are as follows: If the shuttle robot is walking in a straight branch path, the branch wheel groups on both sides of the shuttle robot are controlled to rise to a preset high position, and the side guide wheel groups on both sides of the shuttle robot are controlled to rotate to a preset low position. After the shuttle robot passes through the straight branch path track, the side guide wheel groups on both sides of the shuttle robot are controlled to rotate to a preset high position. If the shuttle robot is performing right branching, the branching wheel group on the right side of the shuttle robot is controlled to descend to a preset low position. After the right branching of the shuttle robot is completed, the branching wheel group on the right side of the shuttle robot is controlled to rise to a preset high position. If the shuttle robot is performing left branching, the branching wheel group on the left side of the shuttle robot is controlled to descend to a preset low position. After the shuttle robot completes left branching, the branching wheel group on the left side of the shuttle robot is controlled to rise to a preset high position. When the shuttle robot walks in a combined path, the control is as follows: The shuttle robot is controlled to enter the branching platform from the corresponding branching track interface, and the positions of the branching wheel group and the side guide wheel group are controlled to realize the shuttle robot joining the road. The specific steps are as follows: If the shuttle robot is moving in a straight-line combined path, the branch wheel groups on both sides of the shuttle robot are controlled to rise to a preset high position, and the side guide wheel groups on both sides of the shuttle robot are controlled to rotate to a preset low position. After the shuttle robot passes through the straight-line branch track, the side guide wheel groups on both sides of the shuttle robot are controlled to rotate to a preset high position. If the shuttle robot is walking on the right side, the branch wheel group on the right side of the shuttle robot is controlled to descend to a preset low position. After the shuttle robot completes the right side, the branch wheel group on the right side of the shuttle robot is controlled to rise to a preset high position. If the shuttle robot is walking in the left direction, the branch wheel group on the left side of the shuttle robot is controlled to descend to a preset low position. After the shuttle robot completes the left direction, the branch wheel group on the left side of the shuttle robot is controlled to rise to a preset high position.

Images