Walking assembly and shuttle robot

Abstract

The utility model provides a walking assembly and a shuttle robot. The walking assembly comprises a base, a first side guide wheel set connected to one side of the base and a second side guide wheel set capable of moving up and down relative to the base. The first side guide wheel set is provided with a first side guide wheel walking along the side wall of the inner side of the track and a second side guide wheel walking along the upper wall of the inner side of the track, and the second side guide wheel abuts against the upper wall of the inner side of the track through an elastic body. The second side guide wheel set is provided with a branching wheel which is used for being matched with the robot to conduct branching and combining on the track when the second side guide wheel set operates on the track. Therefore, when the shuttle robot provided with the walking assembly turns on the track at a high speed, the second side guide wheel exerts vertical downward force on the shuttle robot to prevent the shuttle robot from bouncing, and meanwhile the first side guide wheel exerts horizontal force on the shuttle robot to counteract the effect of centripetal force generated when a trolley turns at the high speed on the track. Therefore, the shuttling robot can stably run on the track in a high-speed turning mode.

Description

Technical Field

[0001] This application relates to the technical field of logistics robots, and particularly to a traveling assembly and a shuttle robot. Background Art

[0002] Shuttle robot cars are widely used in the field of warehousing and logistics transportation, and can achieve rapid transportation and sorting of materials. In existing warehousing and logistics systems, shuttle robots that can move on the ground and on rails simultaneously have been applied. The shuttle robot includes a shunting wheel disposed on one side of the shunting mechanism close to the rail for guiding the movement of the robot by fitting against the side of the rail, and a side guide wheel installed on the robot housing along a direction perpendicular to the upper edge of the rail. The shunting wheel and the side guide wheel are respectively located on the outer side and the inner side of the rail, restricting the shuttle robot to move along the rail corresponding to the shunting wheel on the descending side. The upper edge of the rail adopts an inwardly inclined slope structure, and the side guide wheel is installed on the robot housing along a direction perpendicular to the upper edge of the rail. The slope structure of the upper edge of the rail cooperates with the side guide wheel to restrict the shuttle robot within the rail.

[0003] However, during the high-speed operation of the applied shuttle robot, since it is only restricted by the inward inclination of the rail and the side guide wheel, that is, the acting force directions of the slope and the side guide wheel are also inclined. Therefore, when turning, a force that causes the shuttle robot to rotate may be formed, which may cause the shuttle robot to bounce, and even the side guide wheel may exceed the restraint of the rail slope, resulting in a runaway accident of the shuttle robot. Therefore, a new traveling assembly is urgently needed to make the shuttle robot operate stably during high-speed turning in the rail. Summary of the Invention

[0004] This application provides a traveling assembly and a shuttle robot, which can be used to solve the problem of making the shuttle robot operate stably during high-speed turning in the rail.

[0005] In a first aspect of this application, a traveling assembly is provided, including a base, a first side guide wheel group connected to one side of the base, and a second side guide wheel group that can move up and down relative to the base;

[0006] The first side guide wheel group is provided with a first side guide wheel that travels along the inner side wall of the rail, and a second side guide wheel that travels along the inner upper wall of the rail. The second side guide wheel abuts against the inner upper wall of the rail through an elastic body;

[0007] The second side guide wheel group is provided with a shunting wheel, which is used to cooperate with the robot to branch and merge on the rail during operation.

[0008] Further, the first side guide wheel group further includes a lower connecting rod, and an upper connecting rod that can rotate around the upper end of the lower connecting rod;

[0009] A support platform is provided in the middle of the lower connecting rod for supporting the elastic body;

[0010] The elastic body is used to apply an upward elastic force to the upper connecting rod.

[0011] Furthermore, the angle at which the second side guide wheel abuts against the inner upper wall of the track is adjusted by a regulator provided on the lower connecting rod.

[0012] Furthermore, the base includes a base body, a side portion of the base body is fixedly connected to the lower connecting rod, a column is provided on the top of the base body, and the bottom of the base is fixedly connected to the vehicle body of the robot;

[0013] The second side guide wheel set moves up and down along the column.

[0014] Furthermore, the first side guide wheel set is connected to the base body through a fixed plate provided.

[0015] Furthermore, the second side guide wheel set includes an upper support arm, and the upper support arm is successively composed of a first arm body, a second arm body, and a third arm body;

[0016] A sleeve is connected below the first arm body, and the sleeve is sleeved on the column;

[0017] The second arm body cooperates with the first arm body and the third arm body to form a cavity below the second arm body.

[0018] Furthermore, on the same side of the trolley, two sets of the first side guide wheel, the second side guide wheel, the upper support arm, and the shunt wheel are provided, and are respectively arranged on both sides of the robot walking wheel.

[0019] Furthermore, the two upper support arms on the same side are connected by a connecting arm, and a lifting device connection hole is provided on the connecting arm.

[0020] Furthermore, the position of the shunt wheel corresponds to that of the first side guide wheel. When the shunt wheel is close to or abuts against the outer side wall of the track, it is used to limit the movement of the shuttle robot along the track corresponding to the shunt wheel on the descending side.

[0021] Furthermore, the first side guide wheel, the second side guide wheel, and the shunt wheel on the same side are all symmetrically arranged with the axis center of the robot walking wheel.

[0022] In a second aspect of the present application, a shuttle robot is provided, and the shuttle robot includes a walking assembly, and the walking assembly is the walking assembly of any one of the above.

[0023] Furthermore, the shuttle robot further includes a vehicle body, and a connecting plate is provided on the side surface of the vehicle body perpendicular to the walking direction of the trolley;

[0024] The connecting plate is used to mount the hanging part on the vehicle body;

[0025] The hanging part is one of a drum mechanism, a conveyor belt mechanism, a telescopic fork mechanism, a turnover mechanism or a roller mechanism.

[0026] Furthermore, a ground walking drive mechanism and a rail walking drive mechanism are also arranged in the vehicle body, and the ground walking drive mechanism and the rail walking drive mechanism share the walking wheels arranged on both sides of the vehicle body.

[0027] The solution provided by this application has the following beneficial effects:

[0028] 1. In the walking assembly of this application, the first side guide wheel group is provided with a first side guide wheel that walks along the inner side wall of the track and a second side guide wheel that walks along the inner upper wall of the track. The second side guide wheel abuts against the inner upper wall of the track through an elastic body. Therefore, when the shuttle robot equipped with the walking assembly of this application makes a high-speed turn on the track, the second side guide wheel exerts a vertically downward force on the shuttle robot to prevent the shuttle robot from bouncing. At the same time, the first side guide wheel exerts a horizontal force on the shuttle robot to offset the action of the centripetal force of the trolley when turning at high speed on the track. Therefore, the shuttle robot can run smoothly when making a high-speed turn on the track.

[0029] 2. The lower connecting rod of this application adjusts the angle at which the second side guide wheel abuts against the inner upper wall of the track through the provided regulator. On the one hand, the damping force of the second side guide wheel can be adjusted by the regulator, so that the shuttle robot can run efficiently and smoothly.

[0030] 3. The shuttle robot of this application is provided with shunt wheels. By controlling the lifting of the shunt wheels on both sides of the shuttle robot, the shuttle robot can switch to running on tracks in different directions on the track to meet the moving requirements of different conveying lines. Description of the Drawings

[0031] Figure 1 is a front view structural schematic diagram of a walking assembly of this application;

[0032] Figure 2 is of this application Figure 1 structural enlarged schematic diagram at the first side guide wheel group;

[0033] Figure 3 is a front view structural schematic diagram after assembly of a base and a first side guide wheel group of this application;

[0034] Figure 4 is a top view structural schematic diagram of a second side guide wheel group of this application;

[0035] Figure 5It is a front view structural schematic diagram after the assembly of an upper arm and a shunt wheel of the present application;

[0036] Figure 6 It is a vertical view structural schematic diagram of a shuttle robot of the present application;

[0037] Figure 7 It is a front view structural schematic diagram of a shuttle robot of the present application.

[0038] 1 - Traveling assembly, 11 - Base, 111 - Foundation, 112 - Column, 113 - Fixed plate; 12 - First side guide wheel group, 121 - Lower connecting rod, 122 - Support platform, 123 - Regulator, 124 - First side guide wheel, 125 - Upper connecting rod, 126 - Second side guide wheel, 127 - Elastic body; 13 - Second side guide wheel group, 131 - Upper arm, 1311 - First arm body, 1312 - Second arm body, 1313 - Third arm body, 1314 - Cavity, 1315 - Sleeve, 132 - Shunt wheel, 133 - Connecting arm, 134 - Connecting hole; 2 - Vehicle body, 21 - Connecting plate; 3 - Traveling wheel; 4 - Hanging piece, 5 - Track. Detailed implementation manners

[0039] To make the objectives, technical solutions and advantages of the present application clearer, the following will further describe the implementation manners of the present application in detail with reference to the accompanying drawings.

[0040] The implementation environment described in the embodiments of the present application is to more clearly illustrate the technical solutions of the embodiments of the present application, and does not constitute a limitation on the technical solutions provided by the embodiments of the present application. Those of ordinary skill in the art know that the technical solutions provided by the embodiments of the present application are also applicable to similar technical problems in different implementation environments.

[0041] First, the traveling assembly of the present application will be introduced below. Please refer to Figure 1 , which shows a vertical view structural schematic diagram of a traveling assembly of an embodiment of the present application. The traveling assembly includes a base 11, a first side guide wheel group 12 connected to one side of the base 11, and a second side guide wheel group 13 that can move up and down relative to the base 11; the first side guide wheel group 12 is provided with a first side guide wheel 124 that travels along the inner side wall of the track and a second side guide wheel 126 that travels along the inner upper wall of the track, and the second side guide wheel 126 abuts against the inner upper wall of the track through an elastic body 127.

[0042] For the specific structures of the base 11 and the first side guide wheel group 12, reference can be made to Figure 2 and Figure 3The schematic diagram shown, the first side guide wheel set 12 includes a lower connecting rod 121, and an upper connecting rod 125 that can rotate around the upper end of the lower connecting rod 121. The upper end of the lower connecting rod 121 and the lower connecting rod 121 can be realized in the form of a rotating shaft fit, or a gear fit, or a cross universal joint, etc. When realized in the form of a rotating shaft, one form is that the upper end of the lower connecting rod 121 can be a U-shaped groove, and one end of the upper connecting rod 125 is rotatably installed in the U-shaped groove through a pin shaft. It can also be other forms of fit. For example, a mating rotating slideway is provided at the upper end of the lower connecting rod 121 and one end of the upper connecting rod 125, and they are rotatably connected together through a pin shaft. When in gear fit, meshing gears are provided at the upper end of the lower connecting rod 121 and one end of the upper connecting rod 125, and the meshing gears are installed in a fixed structure, similar to a compass structure. Of course, a cross universal joint, an elastic coupling, etc. can also be used to connect the upper end of the lower connecting rod 121 and one end of the upper connecting rod 125 to realize the rotation of the upper connecting rod 125 around the upper end of the lower connecting rod 121.

[0043] The bottom of the lower connecting rod 121 extends outward relative to one side of the upper end, and a mounting seat for the first side guide wheel 124 is formed at the bottom end. The first side guide wheel 124 is installed on this mounting seat. When the walking surface of the shuttle robot is used as the reference surface, the rotation direction of the first side guide wheel 124 is parallel to this reference surface. A support platform 122 is provided between the upper end and the mounting seat of the lower connecting rod 121. This support platform is used to connect or support one end of the elastic body 127. The other end of the elastic body 127 is connected or in contact with the body of the upper connecting rod 125. When the shuttle robot walks on the track, the elastic body 127 is in a compressed state and can have an upward elastic force on the upper connecting rod 125, so that the second side guide wheel 126 can closely adhere to the inner upper wall of the track 5. Among them, the elastic body 127 of the present application can be a spring, a spring sheet, etc. made of a metal material, or an elastic body such as a spring, a sheet, a column, etc. made of a polymer material such as polyester, rubber or its composite material. As long as it is a material that can generate an elastic force in the compression direction when compressed, it is acceptable.

[0044] In an improved implementation, in order to adjust the pressure received by the second side guide wheel 126 when it contacts the inner upper wall of the track, and the angle at which the second side guide wheel 126 contacts the inner upper wall of the track. The lower connecting rod 121 of the present application adjusts the angle at which the second side guide wheel 126 abuts against the inner upper wall of the track through the provided regulator 123. One specific structure can be referred to Figure 2 and Figure 3The schematic diagram shown, the regulator 123 uses a lead screw to adjust the rotation angle of the upper connecting rod 125, adjust the pressure on the elastic body 127, and adjust the angle at which the second side guide wheel 126 abuts against the inner upper wall of the track 5. Of course, the regulator 123 can also adopt other methods, such as a thread structure, etc.

[0045] Next, the present application introduces the structure of the base 11. One structural form can be referred to Figure 2 and Figure 3 The schematic diagram shown. The base includes a base 111. A side portion of the base 111 is fixedly connected to the lower connecting rod 121. A column 112 is provided on the top of the base 111. The bottom of the base 111 is fixed to the vehicle body 2 of the robot; the second side guide wheel group 13 moves up and down along the column 112. Wherein the base 111 can be a cylindrical block, and the column 112 is provided on its top. The column 112 is a slender cylindrical, elliptical cylindrical or polygonal rod. The column 112 and the base 111 can adopt fixing methods such as welding, integrally forming, and screwing.

[0046] The base 111 and the lower connecting rod 121 can adopt an integrally formed manner to fixedly connect the lower connecting rod 121 to the side of the base 111. In addition, the lower connecting rod 121 is also provided with a fixing seat. The fixing seat passes through the column 112 and is sleeved on the upper surface of the base 111, and the fixing seat is pressed against the upper surface of the base 111 by the provided fixing plate 113, so as to realize fixedly connecting the lower connecting rod 121 to the side of the base 111.

[0047] Next, the present application introduces the second side guide wheel group 13. Please refer to the attached Figure 4 and attached Figure 5 The schematic diagram shows that a shunt wheel 132 is provided, which is used to cooperate with the robot to split and merge paths on the track when running on the track.

[0048] In an improved implementation, next, the present application introduces the second side guide wheel group 13. Please refer to the attached Figure 4 and attached Figure 5Schematic diagram, the second side guide wheel group 13 includes an upper support arm 131, and the upper support arm 131 is successively composed of a first support arm body 1311, a second support arm body 1312, and a third support arm body 1313. The first support arm body 1311 is used to be sleeved on the column 112, and the first support arm body 1311 is provided with a through hole for the column 112 to pass through. In order to enable the second side guide wheel group 13 to vertically move up and down on the column 112, a sleeve 1315 is connected below the first support arm body 1311 of the present application. The sleeve 1315 is a cylindrical slider, and can be fixed by integral molding, welding, screwing or other fixing methods with the first support arm body 1311. The inner diameter of the slideway of the sleeve 1315 just matches the diameter of the column 112 and is sleeved on the column 112. When the second side guide wheel group 13 can vertically move up and down on the column 112, the second side guide wheel group 13 can vertically operate, and the sleeve 1315 can also be used as a limit block. When the second side guide wheel group 13 uses a cylinder or the like as the power for up and down movement, it can prevent the second side guide wheel group 13 from descending excessively and hitting the track.

[0049] In order to make the structure of the shuttle robot more compact and miniaturized, the second support arm body 1312 of the present application cooperates with the first support arm body 1311 and the third support arm body 1313 to form a cavity 1314 below the second support arm body 1312. As Figure 5 shown in the schematic diagram, from left to right in the illustrated direction are the first support arm body 1311, the second support arm body 1312, and the third support arm body 1313 respectively. The arm thickness of the first support arm body 1311 and the arm thickness of the third support arm body 1313 are both greater than the arm thickness of the second support arm body 1312. In addition, the first support arm body 1311, the second support arm body 1312, and the third support arm body 1313 can be connected together by riveting, welding, screwing, integral molding or other methods. In order to prevent stress concentration at the cavity 1314, that is, transition chamfers are provided at the connection between the first support arm body 1311 and the second support arm body 1312 and at the connection between the second support arm body 1312 and the third support arm body 1313. In addition, the size of the upper support arm 131 is such that after being assembled on the shuttle robot, the upper part of the track 5 can extend into the cavity 1314, and the shunt wheel 132 connected to the third support arm body 1313 can abut against or be close to the outer side wall of the track 5 after descending.

[0050] In an improved implementation, the number of the first side guide wheels 124, the second side guide wheels 126, the upper support arms 131, and the shunt wheels 132 on one side of the trolley in this application can be set to one set or more. The position of the shunt wheel 132 corresponds to that of the first side guide wheel 124. When the shunt wheel 132 is close to or abuts against the outer side wall of the track, it is used to limit the movement of the shuttle robot along the track corresponding to the shunt wheel 132 on the descending side. When the first side guide wheels 124, the second side guide wheels 126, the upper support arms 131, and the shunt wheels 132 are set to one set, after the first side guide wheels 124, the second side guide wheels 126, the upper support arms 131, and the shunt wheels 132 on one side of the trolley in this application are installed on the shuttle robot without affecting the traveling wheels 3, the center of gravity of the shuttle robot is located on the axis of the trolley traveling wheels 3. In order for the trolley to turn at high speed more smoothly, preferably on the same side of the trolley, two sets of the first side guide wheels 124, the second side guide wheels 126, the upper support arms 131, and the shunt wheels 132 are provided and are respectively arranged on both sides of the robot traveling wheels 3. In this way, when turning at high speed, the two sets of the first side guide wheels 124 and the second side guide wheels 126 can better make the shuttle robot stressed both front and back, preventing the shuttle robot from swinging unstably at the head and tail when turning and colliding with the track 5. Similarly, when the shuttle robot is shunting, the two sets of shunt wheels 132 can ensure that the shuttle robot enters the predetermined track 5 quickly, accurately, and smoothly both front and back.

[0051] In an improved implementation, the number of the first side guide wheels 124, the second side guide wheels 126, the upper support arms 131, and the shunt wheels 132 on one side of the trolley in this application can be set to one set. The lifting of the upper support arm 131 can be realized by an electric slide rod, a lifting cylinder, etc., or can be lifted by a mechanical lifting mechanism (such as a cam, a Z-shaped groove slider, etc.). When two or more sets of the first side guide wheels 124, the second side guide wheels 126, the upper support arms 131, and the shunt wheels 132 are provided on the same side of the trolley, the structure is complex and the cost is high. At the same time, the shuttle robot needs more space to install these structures, which not only increases the weight of the shuttle robot but also affects the structural compactness of the shuttle robot.

[0052] In an improved implementation, when two sets of the first side guide wheels 124, the second side guide wheels 126, the upper support arms 131, and the shunt wheels 132 are provided on the same side of the trolley, in order to enable the two upper support arms 131 on the same side to be lifted and lowered synchronously, a mechanical synchronization method is preferably selected. That is, the two upper support arms 131 on the same side of the present application are connected by a connecting arm 133, and a lifting device connection hole 134 is provided on the connecting arm 133. This connection hole is used to fix the Z-shaped groove fixing block for lifting. By a horizontally movable slider moving in the Z-shaped groove of the Z-shaped groove fixing block, the connecting arm 133 is moved up and down, thereby driving the two upper support arms 131 to be lifted and lowered synchronously. In order to prevent the upper support arm 131 from getting stuck on the column 112, a Z-shaped groove fixing block is fixedly connected to both ends of the connecting arm 133. The installation directions of the Z-shaped grooves of the Z-shaped groove fixing blocks on both sides are the same. Two horizontally movable sliders cooperating with the two Z-shaped groove fixing blocks are connected together by a screw rod. Through the cooperation of the threaded screw rod, the horizontal moving distances of the two sliders are synchronized, and the synchronous lifting and lowering of both sides of the connecting arm 133 can be realized, avoiding the upper support arm 131 from getting stuck on the column 112.

[0053] In an improved implementation, in addition, the first side guide wheels 124, the second side guide wheels 126, and the shunt wheels 132 on the same side are symmetrically arranged with respect to the axis center of the robot walking wheel 3, which can make the center of gravity of the shuttle robot located at the walking wheel 3. Even if the center of gravity is shifted due to loading goods, through the constraints of the first side guide wheels 124, the second side guide wheels 126, and the shunt wheels 132 arranged in central symmetry, the vehicle body 2 of the shuttle robot can be prevented from tilting greatly, avoiding the items on the shuttle robot from falling out during the transportation process, especially when turning at high speed, thus affecting the operation of the shuttle robot on the track.

[0054] The second aspect of the present application provides a shuttle robot, which includes a walking assembly 1. When the shuttle robot runs on the track 5, the walking assembly 1 used is the walking assembly of any one of the above. In order to cooperate with the operation of the walking assembly 1, the cross-section of the running part of the track 5 for the first side guide wheel group 12 and the first side guide wheel 13 is a C-shaped track, that is, the upper edge of the track 5 is bent inward and in a horizontal state, so that the first side guide wheel 124, the second side guide wheel 126, and the shunt wheel 132 can realize the functions of the above walking assembly 1.

[0055] In an improved implementation, the shuttle robot further includes a vehicle body 2. A connecting plate 21 is provided on the side of the vehicle body 2 perpendicular to the traveling direction of the trolley. The connecting plate 21 is a plate-shaped profile that matches the frame of the hanging part 4. A relatively common type of this plate-shaped profile is an L-shaped plate. The bottom of the L-shaped plate is fixed to the side of the vehicle body 2 perpendicular to the traveling direction of the trolley by bolts. The side of the L-shaped plate is used to fix the hanging part 4, so that the hanging part 4 can be conveniently and quickly installed on the vehicle body 2. In addition, other fixing structures such as quick-release plates and quick-release clamps can also be used to install the hanging part 4 on the vehicle body 2. The hanging part 4 is one of a roller mechanism, a conveyor belt mechanism, a fork extending mechanism, a turnover mechanism, or a roller mechanism. Specifically, one of them can be installed on the vehicle body 2 according to business requirements. A connection port connected to the hanging part 4 is provided on the outer side of the vehicle body 2. The control bus port of the hanging part 4 is connected to the connection port on the vehicle body 2, and the control of the hanging part 4 can be achieved.

[0056] In an improved implementation, a ground traveling drive mechanism and a rail traveling drive mechanism are further provided in the vehicle body 2. The ground traveling drive mechanism and the rail traveling drive mechanism share the traveling wheels 3 provided on both sides of the vehicle body 2. Whether the shuttle robot moves on the ground or on the rail, it is driven by the cooperation of the traveling wheels 3 with the surface of the ground or the rail. The traveling wheels 3 are respectively connected to independent power sources for driving. When moving on the ground, operations such as steering and rotation of the shuttle robot can be achieved through the differential control between the traveling wheels 3. When moving on the rail, since there are fork points on the rail, when turning, only one side of the traveling wheels 3 can contact the rail 5 in some areas. To maintain the stable movement of the shuttle robot on the rail 5, the shunting wheel 132 on the turning side or the reversing side is lowered to assist the shuttle robot in reversing. To improve the service life of the shunting wheel 132, a supporting plate flush with the inner bottom wall of the rail can be installed between the two rails at the bottom of the fork point. In this way, the force on the shunting wheel 132 is reduced, the service life of the shunting wheel 132 is improved, and the stability of the shuttle robot when running at the fork is also improved.

[0057] As can be seen from the above description, the present application provides a walking assembly and a shuttle robot. When the shuttle robot equipped with the walking assembly of the present application makes a high-speed turn on the track, the second side guide wheel applies a vertically downward force to the shuttle robot to prevent the shuttle robot from bouncing. At the same time, the first side guide wheel applies a horizontal force to the shuttle robot to offset the centripetal force of the trolley during the high-speed turn on the track, which can be used to solve the problem of enabling the shuttle robot to run stably during the high-speed turn in the track. The lower link of the present application adjusts the angle at which the second side guide wheel abuts against the inner upper wall of the track through the provided regulator. On the one hand, the damping force of the second side guide wheel can be adjusted by the regulator, so that the shuttle robot can run efficiently and smoothly. A shunt wheel is provided on the shuttle robot of the present application. By controlling the lifting of the shunt wheels on both sides of the shuttle robot, the shuttle robot can switch to running on tracks in different directions on the track to meet the moving requirements of different conveying lines.

[0058] In addition, in the description of the present application, unless otherwise specified, "a plurality" means two or more than two. In addition, in order to clearly describe 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 the same items or similar items with basically the same functions and effects. 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 to be different. The above-described embodiments of the present application do not constitute a limitation on the protection scope of the present application.

Claims

1. A walking assembly, characterized in that: It comprises a base (11), a first side guide wheel group (12) connected to one side of the base (11), and a second side guide wheel group (13) movable up and down relative to the base (11); The first side guide wheel group (12) is provided with a first side guide wheel (124) running along the inner side wall of the track, and a second side guide wheel (126) running along the inner upper wall of the track, and the second side guide wheel (126) is pressed against the inner upper wall of the track through an elastic body (127); The second side guide wheel group (13) is provided with a splitter wheel (132) for cooperating with the robot to split or join paths on the track when the robot is running on the track.

2. The walking assembly according to claim 1, characterized in that: The first side guide wheel assembly (12) further includes a lower connecting rod (121) and an upper connecting rod (125) that can rotate around the upper end of the lower connecting rod (121); A supporting platform (122) is provided in the middle of the lower connecting rod (121) for supporting the elastic body (127); The elastic body (127) is used to apply an upward elastic force to the upper connecting rod (125).

3. The walking assembly according to claim 2, characterized in that: The lower connecting rod (121) adjusts the angle at which the second side guide wheel (126) abuts against the inner upper wall of the track through an adjustable regulator (123).

4. The walking assembly according to any one of claims 2 to 3, characterized in that: The base (11) comprises a pedestal (111), the side of the pedestal (111) is fixedly connected to the lower connecting rod (121), the top of the pedestal (111) is provided with a column (112), and the bottom of the pedestal (111) is fixed to the body (2) of the robot; The second side guide wheel assembly (13) moves up and down along the column (112).

5. The walking assembly according to claim 4, characterized in that: The first side guide wheel assembly (12) is connected to the base (111) via a fixed plate (113).

6. The walking assembly according to claim 5, characterized in that: The second side guide wheel assembly (13) comprises an upper arm (131), and the upper arm (131) is composed of a first arm body (1311), a second arm body (1312), and a third arm body (1313) in sequence; A sleeve (1315) is connected below the first arm (1311), and the sleeve (1315) is sleeved on the column (112); The second arm body (1312) cooperates with the first arm body (1311) and the third arm body (1313) to form a cavity (1314) below the second arm body (1312).

7. The walking assembly according to claim 6, characterized in that: On the same side of the trolley, two groups of the first side guide wheel (124), the second side guide wheel (126), the upper support arm (131), and the branching wheel (132) are provided, and are respectively arranged on both sides of the robot walking wheel (3).

8. The walking assembly according to claim 7, characterized in that: The position of the shunt wheel (132) corresponds to that of the first side guide wheel (124). When the shunt wheel (132) is close to or against the outer side wall of the track, it is used to restrict the shuttle robot from moving along the track corresponding to the shunt wheel (132) on the descending side.

9. The walking assembly according to claim 8, characterized in that: The first side guide wheel (124), the second side guide wheel (126), and the branch wheel (132) on the same side are all symmetrically arranged around the axis of the robot walking wheel (3).

10. A shuttle robot, characterized in that: The shuttle robot comprises a walking component (1), and the walking component (1) is the walking component according to any one of claims 1 to 9.

11. The shuttle robot according to claim 10, characterized in that: The shuttle robot also includes a vehicle body (2), and a connecting plate (21) is provided on the side of the vehicle body (2) perpendicular to the travel direction of the vehicle; The connecting plate (21) is used to mount the hanging component (4) on the vehicle body (2); The hanging member (4) is a kind of roller mechanism, conveyor belt mechanism, fork extension mechanism, turntable mechanism or roller mechanism.

12. The shuttle robot according to claim 11, characterized in that: A ground travel drive mechanism and a track travel drive mechanism are also provided in the vehicle body (2), and the ground travel drive mechanism and the track travel drive mechanism share travel wheels (3) provided on both sides of the vehicle body (2).

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