CN215922173U

CN215922173U - Single track robot running gear

Info

Publication number: CN215922173U
Application number: CN202022319803.7U
Authority: CN
Inventors: 杨韬; 衡兴顺; 任文杰; 陈广云; 杨海波
Original assignee: Chengdu Juju Zhichuang Technology Co ltd
Current assignee: Chengdu Huacong Zhishi Technology Co ltd
Priority date: 2020-10-16
Filing date: 2020-10-16
Publication date: 2022-03-01
Anticipated expiration: 2030-10-16

Abstract

The utility model discloses a single-track robot walking device, which comprises an underframe, wherein at least two walking wheels are arranged on the underframe, and the walking wheels are provided with a walking driving module and a steering driving module; the control center is respectively connected with the position detection device, the walking driving module and the steering driving module, the position detection device is used for detecting the position relation between the underframe and the monorail, and the control center controls the walking driving module and the steering driving module to operate according to detection information of the position detection device so that the walking wheels keep walking on the top surface of the monorail. The control center controls the steering driving module to steer properly so as to adjust the position of the driving wheel, ensure that the driving wheel and the driven wheel can stably walk on a single track, and prevent the running gear from derailing.

Description

Single track robot running gear

Technical Field

The utility model belongs to the field of rail transit equipment, and particularly relates to a single-rail robot walking device.

Background

At present, in the field of rail transit, devices walking on a rail mostly adopt hook type clamping devices to clamp an equipment walking device on the rail, and balance and walking of a detection device are maintained by means of clamping the rail.

The main disadvantages are that: 1. the joint degree with the steel rail is not tight enough, and the steel rail is easy to be stuck; 2. the self-balancing ratio is poor, and the sports shoes are easy to overturn and derail; 3. potential safety hazards exist in the upper rail and the lower rail, and manual labor is large; 4, the track turnout area cannot be crossed, and 5. the track turnout is large in size and complex in structure.

SUMMERY OF THE UTILITY MODEL

In order to solve one of the above problems in the prior art, the present invention is directed to a monorail robot walking device.

The technical scheme adopted by the utility model is as follows: a single-track robot walking device comprises an underframe, wherein at least two walking wheels are arranged on the underframe, and a walking driving module and a steering driving module are arranged on the walking wheels in a matching mode; the control center is respectively connected with the position detection device, the walking driving module and the steering driving module, the position detection device is used for detecting the position relation between the chassis and the monorail, and the control center controls the walking driving module and the steering driving module to operate according to detection information of the position detection device so that the walking wheels can keep walking on the top surface of the monorail.

Preferably, the walking driving module comprises a driving motor, and the driving motor is connected with the walking wheels.

As a preferred mode, the steering driving module comprises a steering driving motor, the steering driving motor is provided with a steering frame connected with the underframe, the output end of the steering driving motor is connected with a front fork bar, and the travelling wheels are connected with the front fork bar.

As a preferred mode, four walking wheels are arranged on the bottom frame and comprise a driving wheel and three driven wheels, the driving wheel and the three driven wheels are arranged in a single row, and the vertical plane in the rotating shaft of the driving wheel and the vertical plane in the rotating shaft of the driven wheels are coplanar.

Preferably, the control center controls the traveling driving module and the steering driving module to operate so that the center-of-gravity projection point of the traveling device is located on the center line of the monorail in the traveling process of the traveling wheel on the top surface of the monorail.

Preferably, the position detection device comprises a distance sensor, the distance sensor is connected with the control center, and the distance sensor is used for detecting the position relation between the underframe and the monorail.

Preferably, the system further comprises a gyro balance device and an attitude detection device, wherein the gyro balance device and the attitude detection device are connected with the control center.

The utility model has the beneficial effects that:

the utility model provides a single-track robot walking device, wherein a position detection device is used for detecting the position relation between an underframe and a single track, and a control center controls a walking driving module and a steering driving module to operate according to detection information of the position detection device so that a driving wheel and a driven wheel keep walking on the single track. The walking driving module can drive the driving wheel and the driven wheel to walk on the monorail, when the position detection device detects that the position of the chassis on the monorail deviates, the control center controls the steering driving module to steer appropriately so as to adjust the position of the driving wheel, so that the driving wheel and the driven wheel can walk on the monorail stably, and the walking device is prevented from derailing.

Drawings

Fig. 1 is a schematic front structural view of a single-track robot walking device provided by the utility model;

FIG. 2 is a schematic diagram of a back structure of a walking device of a single-track robot provided by the present invention;

fig. 3 is a schematic structural diagram of a travel driving module and a steering driving module in a single-track robot traveling device provided by the utility model;

FIG. 4 is a control block diagram of a single-track robot walking device provided by the present invention;

in the figure: 1-a chassis; 2-driving wheel; 3-driven wheel; 4-a walking driving module; 5-a steering drive module; 6-a control center; 7-position detection means; 8-driving a motor; 9-steering drive motor; 10-a bogie; 11-front fork lever; 12-a gyroscopic balancing device; 13-attitude detection means.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the utility model, as claimed, but is merely representative of selected embodiments of the utility model. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the embodiments of the present invention, it should be noted that the indication of the orientation or the positional relationship is based on the orientation or the positional relationship shown in the drawings, or the orientation or the positional relationship which is usually placed when the utility model is used, or the orientation or the positional relationship which is usually understood by those skilled in the art, or the orientation or the positional relationship which is usually placed when the utility model is used, and is only for the convenience of describing the present invention and simplifying the description, but does not indicate or imply that the indicated device or element must have a specific orientation, be configured and operated in a specific orientation, and thus, cannot be understood as limiting the present invention. Furthermore, the terms "first" and "second" are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.

In the description of the embodiments of the present invention, it should be further noted that the terms "disposed" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, unless explicitly stated or limited otherwise; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations. The drawings in the embodiments clearly and completely describe the technical solutions in the embodiments of the present invention, and obviously, the described embodiments are a part of the embodiments of the present invention, but not all of the embodiments.

As shown in fig. 1 and fig. 2, the present embodiment provides a monorail robot walking device, which includes an underframe 1, the underframe 1 is provided with at least two walking wheels, the number of the walking wheels can be set according to actual requirements, the two walking wheels include a driving wheel 2 and a driven wheel 3, and the driving wheel 2 is provided with a walking driving module 4 and a steering driving module 5. The driving wheel 2 and the driven wheel 3 have a certain distance, and the center of gravity of the walking device is close to the center of the bottom frame 1, so that the robot can cross the track turnout area. The walking driving module 4 drives the driving wheel 2 to operate, the driving wheel 2 and the driven wheel 3 roll on the surface of the monorail, the walking function of the walking device is achieved, when the rail is located in a bend area, the steering driving module 5 drives the driving wheel 2 to turn, and the driving wheel 2 and the driven wheel 3 can walk along the monorail.

As shown in fig. 4, the walking device further comprises a control center 6 and a position detection device 7, the control center 6 is respectively connected with the position detection device 7, the walking driving module 4 and the steering driving module 5, the position detection device 7 is used for detecting the position relation between the chassis 1 and the monorail, and the control center 6 controls the walking driving module 4 and the steering driving module 5 to operate according to the detection information of the position detection device 7 so that the driving wheel 2 and the driven wheel 3 keep walking on the top surface of the monorail.

The walking driving module 4 can drive the driving wheel 2 and the driven wheel 3 to walk on the monorail, when the position detection device 7 detects that the position of the chassis 1 on the monorail deviates, the control center 6 controls the steering driving module 5 to steer appropriately so as to adjust the position of the driving wheel 2, so that the driving wheel 2 and the driven wheel 3 can stably walk on the monorail, and the walking device is prevented from derailing.

Preferably, in order to improve the smoothness of the robot during walking, the control center 6 controls the walking driving module 4 and the steering driving module 5 to operate so that the center of gravity projection point of the walking device is located on the central line of a single track during walking of the driving wheel 2 and the driven wheel 3 on the single track.

Specifically, the position detection device 7 includes a distance sensor connected to the control center 6, and the distance sensor is configured to detect a positional relationship between the base frame 1 and the monorail. When the chassis 1 deviates, the control center 6 controls the steering driving module 5 to steer the driving wheel 2 in real time, so that the gravity center projection point of the walking device is positioned on the central line of the monorail, and the walking device can walk stably.

In some embodiments, the walking drive module 4 includes a driving motor 8, the driving motor 8 is connected to the driving wheel 2, and the driving motor 8 may be, but is not limited to, a hub motor, and the hub motor is disposed inside the driving wheel 2. The driving motor 8 is connected with the control center 6, and the control center 6 controls the operation of the driving motor 8 in real time to realize the walking speed control of the walking device. The driving wheel 2 is wrapped outside the driving motor 8, and the operation of the driving motor 8 is controlled through the control center 6, so that the driving wheel 2 is driven by the driving motor 8 to rotate. The design mode enables the structure of the walking device to be more compact, saves space and reduces the center of gravity of the walking device.

As shown in fig. 3, in some embodiments, the steering driving module 5 includes a steering driving motor 9, the steering driving motor 9 is provided with a steering frame 10 connected to the chassis 1, an output end of the steering driving motor 9 is connected to a front fork bar 11, the driving wheel 2 is connected to the front fork bar 11, and the front fork bar 11 is rotatably connected to the steering frame 10. The steering driving motor 9 is connected with the control center 6, the control center 6 dynamically adjusts the running state of the steering driving motor 9 in real time, the running direction of the driving wheel 2 is corrected, high-precision steering is realized, and the driving wheel 2 and the driven wheel 3 can be guaranteed to run on the top surface of a single rail.

In some embodiments, the chassis 1 is provided with one driving wheel 2 and three driven wheels 3, and the driving wheel 2 and the three driven wheels 3 are arranged in a single row, and a vertical plane of a rotating shaft of the driving wheel 2 is coplanar with a vertical plane of a rotating shaft of the driven wheels 3. In the walking process, the driving wheel 2 and the three driven wheels 3 are in surface contact with a single track, and the special design is adopted, so that the walking device can automatically and stably cross the track turnout area in the walking process, and is free of side turning, wheel clamping and rail error. The utility model adopts the design of the longitudinal multi-axis travelling wheels to ensure that the gravity center falling point of the robot falls in the supporting surface on the rail surface in the process of crossing the rail turnout area, ensures that the robot stably crosses the rail turnout area and supports the suspension mode of any one travelling wheel in the multi-axis travelling wheels to cross the rail turnout area.

In some embodiments, the walking wheels can also adopt other modes, such as a scheme of designing two driving wheels 2 or a plurality of driving wheels 2, and the utility model ensures the automatic walking stability of the walking device through the design scheme of one driving wheel 2 and three driven wheels 3; enough driven wheels 3 are always kept in contact with the rail surface when the traveling device crosses the rail turnout area, so that the center of gravity of the traveling device does not shift when the traveling device crosses the rail turnout area, and the traveling device smoothly crosses the rail turnout area (namely, the wheels are not clamped); the driving wheel 2 smoothly runs along the single track, so that the accuracy of the track (namely, the track is not wrong) when the track crosses the turnout area of the track is ensured.

In some embodiments, the walking device further comprises a gyroscopic balancing device 12 and an attitude detecting device 13, the gyroscopic balancing device 12 and the attitude detecting device 13 being connected to the control center 6. The attitude detection device 13 can detect the walking attitude of the walking device in real time, and when the walking device is inclined, the walking device is subjected to balance correction through the gyro balance device 12. It should be noted that the structures and connection relationships of the control center 6, the position detection device 7, the driving motor 8, the steering driving motor 9, the gyro balance device 12, the attitude detection device 13, and the like in the traveling device are known in the art and will not be described in detail herein since they are obvious to those skilled in the art.

The embodiment also provides a single-track robot walking method, which is applied to the walking device, and the walking method comprises the following steps:

acquiring the walking state of the walking device, specifically comprising: detecting the position relation between the underframe 1 and the monorail through a distance sensor so as to obtain the walking position of the walking device; the posture information of the traveling device is detected by the posture detection device 13, thereby acquiring the traveling posture of the traveling device.

Control walking drive module 4 and turn to drive module 5 operation, make action wheel 2 and follow driving wheel 3 keep walking on the monorail, specifically include: judging whether the walking device deviates from the central line of the single track or not according to the walking position of the walking device, and enabling the gravity center projection point of the walking device to be positioned on the central line of the single track by controlling the walking driving module 4 and the steering driving module 5; judging whether the walking device enters a track turnout area or not according to the walking position of the walking device, and enabling the walking device to smoothly pass through the track turnout area by controlling the walking driving module 4 and the steering driving module 5 to adjust power; and judging whether the walking device enters a track curve region or not according to the walking posture of the walking device, and enabling the walking device to smoothly pass through the track curve region by controlling the walking driving module 4 and the steering driving module 5.

The utility model provides a single-track robot walking method which can realize walking work of a walking device on a single track, and can control a walking driving module 4 and a steering driving module 5 to run according to a walking state, correct the walking direction in time and ensure that the walking device walks normally along the track direction.

The present invention is not limited to the above-described alternative embodiments, and various other forms of products can be obtained by anyone in light of the present invention. The above detailed description should not be taken as limiting the scope of the utility model, which is defined in the claims, and which the description is intended to be interpreted accordingly.

Claims

1. The single-track robot walking device is characterized by comprising an underframe (1), wherein at least two walking wheels are arranged on the underframe (1), and a walking driving module (4) and a steering driving module (5) are arranged on the walking wheels in a matching way; still include control center (6) and position detection device (7), control center (6) are connected with position detection device (7), walking drive module (4) and turn to drive module (5) respectively, position detection device (7) are used for detecting chassis (1) and monorail's position relation, and control center (6) are according to detection information control walking drive module (4) of position detection device (7) and turn to drive module (5) operation and make the walking wheel keeps walking on the monorail top surface.

2. The monorail robot running gear of claim 1, wherein the running drive module (4) comprises a drive motor (8), the drive motor (8) being connected to a running wheel.

3. The monorail robot running gear of claim 1, wherein the steering drive module (5) comprises a steering drive motor (9), wherein a bogie (10) connected to the underframe (1) is provided with the steering drive motor (9), a front fork lever (11) is connected to an output end of the steering drive motor (9), and the travelling wheels are connected to the front fork lever (11).

4. The monorail robot walking device of claim 1, wherein four walking wheels are arranged on the base frame (1), the four walking wheels comprise a driving wheel (2) and three driven wheels (3), the driving wheel (2) and the three driven wheels (3) are arranged in a single row, and a vertical plane in a rotating shaft of the driving wheel (2) and a vertical plane in a rotating shaft of the driven wheels (3) are coplanar.

5. The monorail robot walking device of claim 1, wherein the control center (6) controls the walking drive module (4) and the steering drive module (5) to operate so that the center of gravity projection point of the walking device is located on the center line of the monorail during walking on the top surface of the monorail.

6. The monorail robot running gear of claim 1, characterized in that the position detection device (7) comprises a distance sensor, which is connected to the control center (6) and is used to detect the positional relationship of the undercarriage (1) to the monorail; the walking device further comprises a gyro balancing device (12) and an attitude detection device (13), and the gyro balancing device (12) and the attitude detection device (13) are connected with the control center (6).