Shuttle robot and use method

Abstract

A shuttle robot and a use method. The shuttle robot comprises a robot housing (1); a ground shuttle driving mechanism used to drive the robot to travel on the ground and a rail shuttle driving mechanism used to drive the robot to travel on rails (4) are provided on the robot housing (1); the ground shuttle driving mechanism and the rail shuttle driving mechanism share driving wheels (2) arranged on two sides of the robot housing (1); the ground shuttle driving mechanism is provided with a ground auxiliary wheel set configured to work in conjunction with the driving wheels (2) to make the robot travel and move on the ground; and the rail shuttle driving mechanism is provided with a rail auxiliary wheel set configured to work in conjunction with the driving wheels (2) to make the robot travel and move on the rails.

Description

Shuttle robot and use method Technical Field

[0001] The present invention relates to the technical field of warehousing logistics conveying equipment, and in particular to a shuttle robot and a method of using the same. Background Art

[0002] Shuttle robot carts are widely used in the field of warehousing and logistics transportation, and can realize the rapid transportation and sorting of materials. In the existing warehousing and logistics system, different shuttle robots are used on the ground and on tracks to transport materials. Materials need to be transferred at the docking point, which affects the overall transportation efficiency and the overall transportation and sorting efficiency.

[0003] Summary of the Invention

[0004] Technical purpose: In view of the shortcomings of existing shuttle robots that can only move on the ground or on tracks, which affects the efficiency of transportation and sorting, the present invention discloses a shuttle robot that can move on the ground and on tracks at the same time and a method of use.

[0005] Technical solution: To achieve the above technical objectives, the present invention adopts the following technical solution:

[0006] A shuttle robot is used for logistics transportation on the ground and on rails, comprising a robot shell, on which are arranged a ground shuttle drive mechanism for driving the robot to move on the ground and a rail shuttle drive mechanism for driving the robot to move on the rails. The ground shuttle drive mechanism and the rail shuttle drive mechanism share drive wheels arranged on both sides of the robot shell, the ground shuttle drive mechanism is provided with a ground auxiliary wheel group for cooperating with the drive wheels to enable the robot to move on the ground, and the rail shuttle drive mechanism is provided with a rail auxiliary wheel group for cooperating with the drive wheels to enable the robot to move on the rails.

[0007] Preferably, a branching mechanism for assisting the robot in moving at the fork of the track is provided on the robot shell of the present invention. The branching mechanism consists of two groups, which are arranged on the robot shell in a liftable manner and are symmetrical about the robot shell. A branching wheel is provided on the side of the branching mechanism close to the track for fitting into the side of the track to guide the movement of the robot.

[0008] Preferably, the branching mechanism of the present invention includes a lifting cylinder and a branching wheel mounting frame fixed to the lifting cylinder, the mounting direction of the branching wheel mounting frame is perpendicular to the lifting direction, and the branching wheel is rotatably arranged on the branching wheel mounting frame.

[0009] Preferably, the track auxiliary wheel assembly of the present invention includes side guide wheels arranged on both sides of the robot housing, and the side guide wheels are mounted on the robot housing through side guide wheel mounting frames.

[0010] Preferably, the driving wheel of the present invention is arranged in the middle of the robot shell, and the side guide wheels are located on the front and rear sides of the driving wheel, and are arranged symmetrically with the axis of the driving wheel as the center. When the shuttle robot moves on the track, the side guide wheels are used to maintain the stability of the shuttle robot.

[0011] Preferably, the position of the shunt wheel of the present invention corresponds to the side guide wheel. When the shunt wheel descends, the shunt wheel and the side guide wheel are located on the outside and inside of the track respectively, restricting the shuttle robot from moving along the track corresponding to the shunt wheel on the descending side.

[0012] Preferably, the upper edge of the track of the present invention adopts an inwardly inclined slope structure, and the side guide wheels are installed on the robot housing in a direction perpendicular to the upper edge of the track. The shuttle robot is confined within the track through the slope structure of the upper edge of the track and the side guide wheels.

[0013] Preferably, the ground auxiliary wheel assembly of the present invention includes universal wheels arranged in pairs at the bottom of the robot housing. When the robot moves on the ground, the universal wheels and the drive wheels are in contact with the ground at the same time.

[0014] Preferably, the universal wheel of the present invention is arranged below the robot housing in a diagonal direction.

[0015] Preferably, the driving wheels on both sides of the robot housing of the present invention are respectively connected to independent power sources for driving.

[0016] The present invention also provides a method for using the above-mentioned shuttle robot, in which the driving wheel provides driving power to drive the robot to move. When moving on the ground, the universal wheel located at the bottom of the robot shell contacts the ground, and the auxiliary driving wheel moves the robot on the ground. The robot is turned on the ground by controlling the differential operation of the driving wheels on both sides; after the robot enters the track, the driving wheel contacts the bottom of the track, the universal wheel is suspended in the air, and the side guide wheels located on both sides of the robot shell assist in guiding the movement of the robot on the track; when the robot needs to adjust the travel direction at the track fork, the movement is assisted by the branch mechanism provided on the robot shell.

[0017] Preferably, the present invention uses a branching mechanism to assist the robot in moving at a track fork, including the following process: before the robot enters the fork, the branching mechanism on the side of the robot close to the track is moved downward, so that the branching wheel of the branching mechanism is lowered to a height that can contact the side of the track; after the robot enters the fork, the branching wheel abuts against the side of the track, so that the robot travels along the side of the track in contact with the guide wheel, thereby realizing the movement guidance of the robot at the track socket.

[0018] Beneficial effects: The shuttle robot and the method of use provided by the present invention have the following beneficial effects:

[0019] 1. The present invention sets a ground shuttle drive mechanism and a track shuttle drive mechanism on the robot shell, which can enable the robot to meet the needs of ground movement and track movement at the same time, so that there is no need to stop at the intersection of the ground and the track to transfer materials, and can directly transport them, thereby improving the efficiency of transportation and sorting.

[0020] 2. The ground shuttle drive mechanism and the track shuttle drive mechanism of the present invention share a driving wheel, and a corresponding auxiliary wheel group is provided for assisting the driving wheel to move on the ground or on the track, so as to achieve seamless connection between the ground and the track, and reduce the size of the shuttle robot. Compared with the method of using different power sources, it can avoid the problem of needing to slow down due to the change of power source to cooperate with the switching of ground and track operation.

[0021] 3. The present invention sets a branching mechanism on the robot shell, and the branching mechanism can be raised and lowered independently, so that the shuttle robot can switch tracks at will on the track to meet the movement requirements of different conveying routes.

[0022] 4. The present invention assists the robot in moving on the ground by providing a universal wheel at the bottom of the robot shell, and cooperates with the differential control of the drive wheels to achieve linear, turning and rotational movements on the ground; and when the robot runs on the track, the universal wheel is located at the bottom of the robot shell and is suspended in the air, which will not affect the movement of the robot on the track.

[0023] 5. The track auxiliary wheel group of the present invention guides the movement of the robot on the track through the side guide wheels arranged on both sides of the robot shell. The side guide wheels abut the inner side of the track, which can keep the robot moving smoothly on the track; and the side guide wheels adopt an angle-adjustable design, which can meet the needs of different track designs and improve the adaptability of the shuttle robot.

[0024] 6. The driving wheel of the present invention is arranged in the middle of the robot shell, and the side guide wheels are arranged on the front and rear sides of the driving wheel and are symmetrically arranged about the center of the driving wheel, which can maintain the stability of the position of the robot shell. When the load of the product transported by the shuttle robot is unevenly distributed, the shuttle can still maintain stable movement on the track.

[0025] 7. The positions of the branch wheel and the side guide wheel of the present invention correspond to each other. When the branch wheel is in the lowered state, the two are located on the inner and outer sides of the track respectively, so that they can cooperate with the side of the track to limit the shuttle robot. While realizing their respective guiding and branching functions, they can also maintain the stability of the vehicle body and keep the vehicle body stable when the load is unbalanced; at the same time, the symmetrical structural design enables the shuttle robot to move in both directions forward and backward without the need for reversing operations, thereby improving the transportation or transfer efficiency.

[0026] 8. The upper edge of the track of the present invention adopts an inward-inclined slope structure, and cooperates with the side guide wheels through the upper edge of the track. When the side guide wheels come into contact with the track, the track will apply a downward component of force to the robot shell through the side guide wheels, thereby improving the stability of the shuttle robot running on the track and avoiding derailment. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for describing the embodiments or the prior art.

[0028] FIG1 is a perspective view of the shuttle robot of the present invention;

[0029] FIG2 is a front view of the shuttle robot of the present invention;

[0030] FIG3 is a bottom view of the shuttle robot of the present invention;

[0031] FIG4 is a diagram of the ground operation state of the shuttle robot of the present invention;

[0032] FIG5 is a diagram showing the track operation state of the shuttle robot of the present invention;

[0033] FIG6 is a schematic diagram of the shuttle robot of the present invention branching on the track;

[0034] FIG7 is a schematic diagram of the shuttle robot of the present invention merging on the track;

[0035] Among them, 1-robot shell, 2-driving wheel, 3-dividing mechanism, 4-track, 5-dividing wheel, 6-lifting cylinder, 7-dividing wheel mounting frame, 8-universal wheel, 9-side guide wheel, 10-side guide wheel mounting frame. DETAILED DESCRIPTION

[0036] The present invention will be described more clearly and completely below by way of a preferred embodiment in conjunction with the accompanying drawings, but the present invention is not limited to the scope of the embodiment.

[0037] As shown in Figures 1 to 7, a shuttle robot disclosed in the present invention is used for logistics transportation on the ground and on a track 4, including a robot shell 1. A ground shuttle drive mechanism for driving the robot to move on the ground and a track shuttle drive mechanism for driving the robot to move on the track are provided on the robot shell 1. The ground shuttle drive mechanism and the track shuttle drive mechanism share a driving wheel 2 arranged on both sides of the robot shell 1. The ground shuttle drive mechanism is provided with a ground auxiliary wheel group for cooperating with the driving wheel 2 to move the robot on the ground, and the track shuttle drive mechanism is provided with a track auxiliary wheel group for cooperating with the driving wheel 2 to move the robot on the track.

[0038] Whether the shuttle robot moves on the ground or on the track, the driving wheel 2 cooperates with the surface of the ground or the track to drive the movement of the shuttle robot, and the corresponding auxiliary wheel group assists the movement to maintain its smooth movement. The shuttle robot of the present invention can realize movement on the ground and on the track through a set of driving wheels, without the need to set up a separate driving mechanism, thereby reducing the structural complexity of the shuttle robot, reducing its size, and meeting the rapid transportation and sorting needs of various types of warehousing and logistics transportation systems; at the same time, using the same driving wheel, there is no need to slow down and switch at the junction, so that the shuttle robot can run continuously at high speed.

[0039] The driving wheels 2 on both sides of the robot shell 1 of the present invention are respectively connected to independent power sources for driving. When moving on the ground, the steering, rotation and other operations of the shuttle robot can be achieved through differential control between the driving wheels. When moving on the track, since there will be forks in the track, when turning, only one side of the driving wheel can contact the track in some areas. In order to maintain the stable movement of the shuttle robot on the track, the robot shell 1 of the present invention is provided with a branching mechanism 3 for assisting the robot to move at the fork of the track. The branching mechanism consists of two groups, which can be raised and lowered on the robot shell 1 and symmetrically arranged about the robot shell 1. A branch wheel 5 is provided on the side of the branching mechanism close to the track 4 for fitting with the side of the track to guide the movement of the robot.

[0040] When the shuttle robot moves normally on the track, the branch mechanism 3 maintains a constant height on the robot shell 1. When it needs to change direction after passing a fork in the road, the branch mechanism on the side of the robot that needs to move will drop. The corresponding branch wheel contacts the side of the track during the movement of the shuttle robot, which can keep the robot moving in the direction of the track, thereby achieving stable movement of the shuttle robot at the fork in the road.

[0041] Specifically, the branching mechanism of the present invention includes a lifting cylinder 6 and a branching wheel mounting frame 7 fixed to the lifting cylinder 6. The installation direction of the branching wheel mounting frame 7 is perpendicular to the lifting direction, and the branching wheel 5 is rotatably set on the branching wheel mounting frame 7; the lifting cylinder 6 can also be replaced with other linearly movable electric facilities to facilitate the supply of driving energy during the movement of the shuttle robot; the branching wheel mounting frame 7 is driven by the lifting cylinder 6 to lift and lower vertically.

[0042] As shown in Figures 4 and 5, in a specific embodiment, the ground auxiliary wheel group of the present invention includes universal wheels 8 arranged in pairs at the bottom of the robot shell 1. When the robot moves on the ground, the universal wheels 8 and the drive wheels 2 are in contact with the ground at the same time; the universal wheels 8 are arranged diagonally below the robot shell 1, in the space between the two drive wheels. When the shuttle robot runs on the track, the universal wheels are in a suspended state and will not affect the track operation of the shuttle robot; it is also possible to consider connecting the universal wheels 8 to a power source, and directly control the rotation of the universal wheels when moving on the ground to realize the steering movement of the shuttle robot.

[0043] The track auxiliary wheel group of the present invention includes side guide wheels 9 arranged on both sides of the robot shell 1, and the side guide wheels 9 are installed on the robot shell 1 through the side guide wheel mounting frame 10. In an embodiment of the present invention, the driving wheel 2 is installed in the middle of the robot shell 1. In order to ensure that the shuttle robot can still operate normally when the load is inconsistent front and back during transportation, the side guide wheels 9 of the present invention are located on the front and rear sides of the driving wheel 2, and are symmetrically arranged with the axis of the rotating shaft of the driving wheel 2 as the center. When the shuttle robot moves on the track 4, the stability of the shuttle robot is maintained by the side guide wheels 9.

[0044] As shown in Figure 5, when the shuttle robot moves on the track, the driving wheel 2 contacts the inner bottom surface of the track 4, and the side guide wheel 9 abuts against the side surface of the track. In order to keep the robot stably in the track, the upper edge of the track 4 can be made into an inward-inclined slope structure, and the side guide wheel 9 abuts against the inner side of the upper edge of the track, thereby utilizing the force between the track 4 and the side guide wheel 9 to keep the shuttle robot stable in the track. When the shuttle robot tends to tilt due to inconsistent forces at both ends, the upper edge of the track 4 transmits thrust to the robot shell 1 through the side guide wheel 9 and the side guide wheel mounting frame 10, thereby keeping the shuttle robot stable in the track 4 and avoiding derailment.

[0045] However, when the shuttle robot moves to the fork position of the track 4, only the side guide wheel 9 on one side of the shuttle robot can contact the track. In this case, the stability of the shuttle robot cannot be maintained by the force between the side guide wheel 9 and the track. For this reason, the present invention sets the position of the shunt wheel 5 to correspond to the side guide wheel 9. When the shunt wheel 5 descends, the shunt wheel 5 and the side guide wheel 9 are correspondingly located on the outside and inside of the track 4, restricting the shuttle robot from moving along the track corresponding to the shunt wheel 5 on the descending side. When at the fork position, the shunt wheel 5 and the side guide wheel 9 jointly maintain contact with the track, thereby achieving stable operation of the shuttle robot.

[0046] The present invention also provides a method for using the above-mentioned shuttle robot, in which the driving wheel provides driving power to drive the robot to move. When moving on the ground, the universal wheel located at the bottom of the robot shell contacts the ground, and the auxiliary driving wheel moves the robot on the ground. The robot is turned on the ground by controlling the differential operation of the driving wheels on both sides; after the robot enters the track, the driving wheel contacts the bottom of the track, the universal wheel is suspended in the air, and the side guide wheels located on both sides of the robot shell assist in guiding the movement of the robot on the track; when the robot needs to adjust the travel direction at the track fork, the movement is assisted by the branch mechanism provided on the robot shell.

[0047] As shown in Figures 6 and 7, the process of using a branching mechanism to assist a robot in moving at a track fork in the present invention includes: before the robot enters the fork, the branching mechanism on the side of the robot close to the track is moved downward, so that the branching wheel of the branching mechanism is lowered to a height that can contact the side of the track; after the robot enters the fork, the branching wheel abuts against the side of the track, so that the robot travels along the side of the track in contact with the guide wheel, thereby realizing the movement guidance of the robot at the track socket.

[0048] The state shown in Figure 6 is the process of the shuttle robot switching from the main track to the branch track. According to the orientation shown in Figure 6, when the shuttle robot needs to enter the first branch track from the main track, the shuttle robot moves down near the branch mechanism on the left, and the corresponding branch wheel abuts against the left side of the main track. The branch mechanism on the right rises and disengages from the right side of the main track. Under the guidance of the branch wheel, the shuttle robot enters the first branch track; when it needs to enter the second branch track, the branch mechanism on the right descends and the branch mechanism on the left rises, so that the shuttle robot can move along the arc edge of the track on the right and enter the second branch track.

[0049] Figure 7 shows a moving state opposite to the branch in Figure 6. When the shuttle robot needs to enter the main track from the first branch track, the branch mechanism on the left side of the shuttle robot is lowered and the branch mechanism on the right side is raised according to the orientation shown in Figure 7; when the shuttle robot needs to enter the main track from the second branch track, the branch mechanism located above the shuttle robot is lowered and the branch mechanism located below is raised according to the orientation shown in Figure 7, so that the shuttle robot can move along the curved track until it enters the main track.

[0050] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A shuttle robot for transporting logistics on the ground and on tracks (4), characterized in that: The robot shell (1) comprises a ground shuttle drive mechanism for driving the robot to move on the ground and a track shuttle drive mechanism for driving the robot to move on a track. The ground shuttle drive mechanism and the track shuttle drive mechanism share driving wheels (2) arranged on both sides of the robot shell (1). The ground shuttle drive mechanism is provided with a ground auxiliary wheel group for cooperating with the driving wheel (2) to move the robot on the ground, and the track shuttle drive mechanism is provided with a track auxiliary wheel group for cooperating with the driving wheel (2) to move the robot on the track.

2. A shuttle robot according to claim 1, characterized in that: The robot housing (1) is provided with a branching mechanism (3) for assisting the robot in moving at a track bifurcation. The branching mechanism comprises two groups, which are arranged on the robot housing (1) in a manner that allows them to be lifted and lowered and are symmetrical about the robot housing (1). A branching wheel (5) is provided on one side of the branching mechanism close to the track (4) and is used to fit the side of the track to guide the movement of the robot.

3. A shuttle robot according to claim 2, characterized in that: The branching mechanism comprises a lifting cylinder (6) and a branching wheel mounting frame (7) fixed to the driving end of the lifting cylinder (6); the mounting direction of the branching wheel mounting frame (7) is perpendicular to the lifting direction; and the branching wheel (5) is rotatably arranged on the branching wheel mounting frame (7).

4. A shuttle robot according to claim 2, characterized in that: The track auxiliary wheel set comprises side guide wheels (9) arranged on both sides of the robot housing (1), and the side guide wheels (9) are mounted on the robot housing (1) via side guide wheel mounting frames (10).

5. A shuttle robot according to claim 4, characterized in that: The driving wheel (2) is arranged in the middle of the robot housing (1), and the side guide wheels (9) are located on the front and rear sides of the driving wheel (2), and are symmetrically arranged with the axis of the driving wheel (2) as the center. When the shuttle robot moves on the track (4), the side guide wheels (9) are used to keep the shuttle robot stable.

6. The shuttle robot according to claim 5, characterized in that: The position of the branch wheel (5) corresponds to the side guide wheel (9). When the branch wheel (5) descends, the branch wheel (5) and the side guide wheel (9) are located on the outer side and the inner side of the track (4) respectively, so as to restrict the shuttle robot from moving along the track corresponding to the branch wheel (5) on the descending side.

7. The shuttle robot according to claim 6, characterized in that: The upper edge of the track (4) adopts an inwardly inclined slope structure, and the side guide wheels (9) are installed on the robot housing (1) in a direction perpendicular to the upper edge of the track (4). The shuttle robot is restricted within the track (4) by the slope structure of the upper edge of the track (4) and the side guide wheels (9).

8. The shuttle robot according to claim 1, characterized in that: The ground auxiliary wheel set comprises universal wheels (8) arranged in pairs at the bottom of the robot housing (1); when the robot moves on the ground, the universal wheels (8) and the driving wheels (2) are in contact with the ground at the same time.

9. The shuttle robot according to claim 8, characterized in that: The universal wheel (8) is arranged below the robot housing (1) along a diagonal direction.

10. The shuttle robot according to claim 1, characterized in that: The driving wheels (11) on both sides of the robot housing (1) are respectively connected to independent power sources for driving.

11. The method for using the shuttle robot according to any one of claims 1 to 10, characterized in that: The driving wheel provides driving power to drive the robot to move. When moving on the ground, the universal wheel at the bottom of the robot shell contacts the ground, and the auxiliary driving wheel moves the robot on the ground. The robot turns on the ground by controlling the differential operation of the driving wheels on both sides. After the robot enters the track, the driving wheel contacts the bottom of the track, the universal wheel is suspended in the air, and the side guide wheels on both sides of the robot shell assist in guiding the movement of the robot on the track. When the robot needs to adjust the direction of travel at the track fork, the movement is assisted by the branch mechanism set on the robot shell.

12. The method for using a shuttle robot according to claim 11, characterized in that: The process of using a branching mechanism to assist a robot in moving at a track fork includes: before the robot enters the fork, the branching mechanism on the side of the robot close to the track is moved downward, so that the branching wheels of the branching mechanism are lowered to a height that can contact the side of the track; after the robot enters the fork, the branching wheels abut against the side of the track, so that the robot travels along the side of the track in contact with the guide wheels, thereby realizing the movement and guidance of the robot at the track socket.

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