A driving steering mechanism, a bogie and a control method

Abstract

A driving steering mechanism, a bogie and a control method, which relate to the field of rail transit technology. It comprises: a frame and a running wheel and a driving mechanism connected thereto, wherein the driving mechanism has a first rotating shaft and a second rotating shaft; the first rotating shaft and the second rotating shaft are respectively connected to running wheels; a preset angle α is set between the first rotating shaft, the second rotating shaft and the running direction of the driving mechanism; the distance L between the central axis of the first rotating shaft and the central axis of the second rotating shaft is less than the diameter of the running wheel. It can reduce the size of the driving mechanism and obtain the maximum driving force in a limited running space under the premise of ensuring sufficient driving force of the driving mechanism. The driving bogie is implemented based on the steering mechanism, and it can obtain a greater driving force in a limited space with a smaller volume. The control method is implemented based on the steering mechanism, and it can quickly detect the spacing between the two sides of the steering mechanism and the guide plate of the walking space, so as to effectively control the steering mechanism through the size of the spacing.

Description

Technical Field

[0001] The present application relates to the field of rail transit technology, and in particular to a driving steering mechanism, a bogie and a control method. Background Art

[0002] At present, in order to ensure a certain driving force, the existing steering mechanism for rail transit is designed to be larger in size, resulting in a large volume of the vehicle running channel occupied by it, so that the running channel needs to have a larger volume during actual use.

[0003] In view of this, this application is hereby filed. Summary of the invention

[0004] The first purpose of the present application is to provide a driving steering mechanism, which can fully utilize the volume of the running space in a limited running space and reduce the size of the driving mechanism under the premise of ensuring sufficient driving force of the driving mechanism, so that the entire steering mechanism can fully utilize the size of the running space and obtain the maximum driving force.

[0005] The second object of the present application is to provide a drive bogie which, compared with a traditional bogie, occupies a smaller volume and can effectively reduce the overall volume, thereby making the entire bogie more flexible.

[0006] The third purpose of the present application is to provide a control method for driving a steering mechanism, which can quickly detect the distance between the two sides of the steering mechanism and the walking space guide plate, thereby adjusting the rotation speed of the running wheels on both sides according to the size of the distance, thereby effectively controlling the steering mechanism.

[0007] The embodiment of the present application is implemented as follows:

[0008] A driving steering mechanism comprises: a frame, a running wheel connected thereto and a driving mechanism, wherein the driving mechanism comprises a first rotating shaft and a second rotating shaft which rotate independently; the first rotating shaft and the second rotating shaft are respectively connected to the running wheel; a preset angle α is set between the first rotating shaft, the second rotating shaft and the running direction of the driving mechanism, α is greater than 75° and less than 105°;

[0009] The distance L between the central axis of the first rotating shaft and the central axis of the second rotating shaft is greater than 0, and L is smaller than the diameter of the running wheel.

[0010] Furthermore, the running wheel comprises a first running wheel connected to the first rotating shaft and a second running wheel connected to the second rotating shaft; the central axis of the first running wheel coincides with the central axis of the second running wheel.

[0011] Further, the first rotating shaft is connected to a first transmission gear, and the first running wheel is provided with a first driven gear meshing with the first transmission gear;

[0012] The second rotating shaft is connected with a second transmission gear, and the second running wheel is provided with a second driven gear meshing with the second transmission gear.

[0013] Furthermore, the first transmission gear is located inside the rim of the first running wheel; and the second transmission gear is located inside the rim of the second running wheel.

[0014] Furthermore, the steering mechanism further comprises: a distance measuring module and a main control module; the distance measuring module is arranged on the frame and is used to detect the distance between it and the guide plate;

[0015] The main control module is arranged on the frame, and is respectively connected to the distance measuring module and the driving mechanism for communication; it is used to receive the distance data sent by the distance measuring module, and to adjust the rotation speeds of the first rotating shaft and the second rotating shaft accordingly.

[0016] Furthermore, a plurality of detection modules are arranged at intervals along the movement direction of the steering mechanism.

[0017] Furthermore, the frame is provided with a limiting assembly; the limiting assembly includes a limiting guide wheel rotatably provided on the frame, and a preset gap is provided between the limiting guide wheel and the running space and / or between the guide plates.

[0018] Furthermore, the steering mechanism also includes an emergency braking device, which is communicatively connected to the main control module.

[0019] A driving bogie comprises: a connecting frame and the driving steering mechanism; two driving steering mechanisms are respectively arranged at two ends of the connecting frame.

[0020] A control method for driving a steering mechanism, comprising: a distance measuring module and a main control module, wherein the distance measuring module is used to measure the distance between the guide plate and the running space, and the distance information is transmitted to the main control module through an electrical signal;

[0021] The main control module controls the rotation speed of the first rotating shaft and the second rotating shaft separately according to the distance information, and adjusts the detection module to measure the distance between the guide plates in the same walking space;

[0022] The distance measuring module measures the distance between it and the guide plate of the walking space after adjustment, and transmits the distance information to the main control module through an electrical signal. The main control module further corrects the rotation speeds of the first rotating shaft and the second rotating shaft.

[0023] The beneficial effects of the embodiments of the present application are:

[0024] The driving steering mechanism provided in the embodiment of the present application can utilize the first rotating shaft and the second rotating shaft in the driving mechanism to rotate independently, so that the running wheels connected to the first rotating shaft and the second rotating shaft can rotate independently, thereby adjusting the running angle of the steering mechanism by the difference in rotation speed; in addition, the distance L between the central axis of the first rotating shaft and the central axis of the second rotating shaft is smaller than the diameter of the running wheel, thereby ensuring the spacing between the first rotating shaft and the second rotating shaft, thereby enabling the driving mechanism to reduce the volume of the driving mechanism while ensuring sufficient driving force, thereby effectively reducing the volume of the steering mechanism.

[0025] In general, the embodiment of the present application provides a driving steering mechanism, which can fully utilize the volume of the running space in a limited running space and reduce the size of the driving mechanism under the premise of ensuring sufficient driving force of the driving mechanism, so that the entire steering mechanism can fully utilize the size of the running space and obtain the maximum driving force. A driving bogie is implemented based on the above-mentioned driving steering mechanism. Compared with a traditional bogie, it occupies a smaller volume and can effectively reduce the overall volume, thereby making the entire bogie more flexible. A driving bogie control method is implemented based on the above-mentioned driving steering mechanism. It can quickly detect the spacing between the two sides of the steering mechanism and the guide plate of the running space, so as to adjust the rotation speed of the running wheels on both sides according to the size of the spacing, thereby effectively controlling the steering mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1 A three-dimensional diagram of a driving steering mechanism provided in an embodiment of the present application;

[0028] Figure 2 A schematic diagram of the structure of a driving steering mechanism provided in an embodiment of the present application;

[0029] Figure 3 A schematic diagram of the distance between the first rotating shaft and the second rotating shaft provided in an embodiment of the present application;

[0030] Figure 4 A side view of a driving steering mechanism provided in an embodiment of the present application;

[0031] Figure 5 for Figure 4 The enlarged view of point A in the middle;

[0032] Figure 6A schematic diagram of the structure of a rack provided in an embodiment of the present application;

[0033] Figure 7 A schematic diagram of the structure of a driving bogie provided in an embodiment of the present application;

[0034] Figure 8 Schematic diagram of the installation structure of the drive bogie provided in an embodiment of the present application.

[0035] Icon: 1000-driving steering mechanism, 2000-connecting frame;

[0036] 1-frame, 2-first rotating shaft, 3-second rotating shaft, 4-first motor, 5-second motor, 6-first fixed shaft, 7-second fixed shaft, 8-first running wheel, 9-second running wheel, 10-first installation bin, 11-second installation bin, 12-first sealing end cover, 13-second sealing end cover, 14-first transmission gear, 15-first driven gear, 16-second transmission gear, 17-second driven gear, 18-first module group, 19-second module group, 20-third module group, 21-main control module, 22-guide plate, 23-first limiting wheel group, 24-second limiting wheel group, 25-emergency brake device, 26-bottom safety wheel. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0038] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0039] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0040] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the product of the application is usually placed when in use. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0041] In addition, the terms "parallel", "vertical", etc. do not mean that the components must be absolutely parallel or vertical, but can be slightly tilted. For example, "parallel" only means that its direction is more parallel than "vertical", and does not mean that the structure must be completely parallel, but can be slightly tilted.

[0042] In addition, the terms "horizontal", "vertical", "overhanging" and the like do not mean that the components are required to be absolutely horizontal or overhanging, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0043] In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0044] Example

[0045] Please refer to Figure 1-6 The present embodiment provides a driving steering mechanism, including: a driving steering mechanism 1000, a connecting frame 2000; a frame 1, a first rotating shaft 2, a second rotating shaft 3, a first motor 4, a second motor 5, a first fixed shaft 6, a second fixed shaft 7, a first running wheel 8, a second running wheel 9, a first mounting bin 10, a second mounting bin 11, a first sealing end cover 12, a second sealing end cover 13, a first transmission gear 14, a first driven gear 15, a second transmission gear 16, a second driven gear 17, a first module group 18, a second module group 19, a third module group 20, a main control module 21, a guide plate 22, a first limiting wheel group 23, a second limiting wheel group 24, an emergency brake device 25, and a bottom safety wheel 26.

[0046] The driving mechanism is arranged on the frame 1, and the driving mechanism has a first rotating shaft 2 and a second rotating shaft 3 that rotate independently; the first rotating shaft 2 and the second rotating shaft 3 are respectively connected to running wheels; a preset angle α is set between the first rotating shaft 2, the second rotating shaft 3 and the running direction of the driving mechanism, α is greater than 75° and less than 105°;

[0047] The distance L between the central axis of the first rotating shaft 2 and the central axis of the second rotating shaft 3 is greater than 0, and L is smaller than the diameter of the running wheel.

[0048] The first rotating shaft 2 and the second rotating shaft 3 in the driving mechanism can be utilized to rotate independently, so that the running wheels connected to the first rotating shaft 2 and the second rotating shaft 3 can rotate independently, thereby adjusting the running angle of the steering mechanism by the difference in rotation speed; in addition, the distance L between the central axis of the first rotating shaft 2 and the central axis of the second rotating shaft 3 is smaller than the diameter of the running wheel, thereby ensuring the spacing between the first rotating shaft 2 and the second rotating shaft 3, thereby reducing the volume of the driving mechanism, thereby effectively reducing the volume of the steering mechanism.

[0049] In general, the driving steering mechanism 1000 provided in the embodiment of the present application can fully utilize the volume of the running space in a limited running space and reduce the size of the driving mechanism while ensuring that the driving force of the driving mechanism is sufficient, so that the entire steering mechanism can fully utilize the size of the running space and obtain the maximum driving force.

[0050] Through the above design, the volume of the steering mechanism can be reduced, so as to adapt to the volume of a smaller running channel and thus be suitable for a smaller track beam.

[0051] It should be noted that, in order to further reduce the volume occupied by the steering mechanism, the driving mechanism in this embodiment includes a first motor 4 and a second motor 5, the output shaft of the first motor 4 is connected to the first rotating shaft 2, the output shaft of the second motor 5 is connected to the second rotating shaft 3, and the output shaft of the first motor 4 and the first rotating shaft 2 are located on the same central axis; the output shaft of the second motor 5 and the second rotating shaft 3 are located on the same central axis. Thus, through this direct drive method, the volume is further reduced. In addition, the first rotating shaft 2 and the second rotating shaft 3 rotate independently; the first rotating shaft 2 and the second rotating shaft 3 are respectively connected to running wheels; the first rotating shaft 2, the second rotating shaft 3 and the running direction of the driving mechanism are preset with an angle α, α greater than 75° and less than 105°; preferably 90°; thereby realizing the horizontal arrangement of the first motor 4 and the second motor 5 (the central axis of the first motor 4 and the second motor 5 is perpendicular to the running direction of the steering mechanism), thereby further compressing the volume of the steering mechanism.

[0052] Furthermore, in order to avoid mechanical conflict between the first running wheel 8 and the second running wheel 9 during movement, in this embodiment, the distance L between the central axis of the first rotating shaft 2 and the central axis of the second rotating shaft 3 is greater than the radius of the running wheel.

[0053] Furthermore, in order to ensure the stability of the steering mechanism during operation, in this embodiment, the running wheels include a first running wheel 8 connected to the first rotating shaft 2 and a second running wheel 9 connected to the second rotating shaft 3; the central axis of the first running wheel 8 coincides with the central axis of the second running wheel 9.

[0054] In this embodiment, a first fixed shaft 6 and a second fixed shaft 7 are respectively provided on both sides of the frame 1, the first running wheel 8 is provided on the first fixed shaft 6, and the second running wheel 9 is provided on the second fixed shaft 7, thereby ensuring that the first running wheel 8 and the second running wheel 9 are located on the same central axis, thereby making the steering mechanism move more smoothly.

[0055] In addition, in this embodiment, the frame 1 has a first installation compartment 10 and a second installation compartment 11 for installing the first motor 4 and the second motor 5. In the specific installation process, the compartment walls of the first installation compartment 10 and the second installation compartment 11 can be used as motor housings of the first motor 4 and the second motor 5, thereby further reducing the occupied volume of the first motor 4 and the second motor 5. In addition, the first motor 4 and the second motor 5 both include a stator and a rotor, which is a conventional internal structure of a motor in the art and will not be described in detail here.

[0056] In addition, in actual use, the first sealing end cover 12 and the second sealing end cover 13 are respectively provided on both sides of the frame 1, the first sealing end cover 12 is provided with a first through hole (not shown) for the first rotating shaft 2 to pass through, and the second sealing end cover 13 is provided with a second through hole (not shown) for the second rotating shaft 3 to pass through. The first fixed shaft 6 and the second fixed shaft 7 are respectively provided on the first sealing end cover 12 and the second sealing end cover 13, so that sufficient installation space is provided for the first fixed shaft 6 and the second fixed shaft 7 through the first sealing end cover 12 and the second sealing end cover 13, and when the distance between the first installation bin 10 and the second installation bin 11 is very small, the installation of the first fixed shaft 6 and the second fixed shaft 7 will not be affected.

[0057] In addition, in this embodiment, one end of the first rotating shaft 2 away from the first sealing end cover 12 is rotatably connected to the second sealing end cover 13 ; one end of the second rotating shaft 3 away from the second sealing end cover 13 is rotatably connected to the first sealing end cover 12 .

[0058] Specifically, the distance between the first sealing end cover 12 and the second sealing end cover 13 completely covers the distance d between the running wheels on both sides in the running direction. Through this design, it can be ensured that the width of the first motor 4 and the second motor 5 occupies the width between the first running wheel 8 and the second running wheel 9, and the first motor 4 and the second motor 5 are arranged in parallel.

[0059] Through the above design, the space can be utilized to the greatest extent, and the stability of the first rotating shaft 2 and the second rotating shaft 3 is ensured, thereby ensuring that the first rotating shaft 2 and the second rotating shaft 3 can have a greater driving force.

[0060] Furthermore, in order to ensure that the first running wheel and the second running wheel can obtain greater driving force and be more stable during movement, in this embodiment, the first rotating shaft 2 is connected to a first transmission gear 14, and the first running wheel 8 is provided with a first driven gear 15 meshing with the first transmission gear 14;

[0061] The second rotating shaft 3 is connected to a second transmission gear 16 , and the second running wheel 9 is provided with a second driven gear 17 meshing with the second transmission gear 16 .

[0062] In addition, the first transmission gear 14 is located inside the rim of the first running wheel 8 ; and the second transmission gear 16 is located inside the rim of the second running wheel 9 .

[0063] The first driven gear 15 is disposed on the first fixed shaft 6 , the second driven gear 17 is disposed on the second fixed shaft 7 , the diameter of the first transmission gear 14 is smaller than that of the first driven gear 15 , and the diameter of the second transmission gear 16 is smaller than that of the second driven gear 17 .

[0064] Through the above design, the driving force of the first rotating shaft 2 and the second rotating shaft 3 can be transmitted in one stage through the first transmission gear 14 and the second transmission gear 16, which can not only increase the driving force acting on the first running wheel 8 and the second running wheel 9, but also ensure the stability of the first running wheel 8 and the second running wheel 9 during movement, and through the one-stage transmission method, a deceleration effect can be formed; thereby, it is possible to ensure that a greater driving force is obtained while reducing the volume of the steering mechanism, thereby increasing the size of the running wheel, and then utilizing the smaller volume of the driving mechanism to drive the larger running wheel to move, thereby obtaining a greater driving force and a smaller rotation speed, and better adaptability to road conditions.

[0065] Furthermore, in order to prevent the steering mechanism from derailing, a distance measuring module and a main control module 21 are specially added in this embodiment; the distance measuring module is arranged on the frame 1, and is used to detect the distance between it and the guide plate 22;

[0066] The main control module 21 is respectively connected to the distance measuring module and the driving mechanism for communication; it is used to receive the distance data sent by the distance measuring module and adjust the rotation speed of the first rotating shaft 2 and the second rotating shaft 3 accordingly.

[0067] In this embodiment, the distance measuring modules are preferably three groups, and the three groups of distance measuring modules are evenly spaced (respectively, the first module group 18, the second module group 19 and the third module group 20).

[0068] Each set of distance measuring modules includes two distance measuring sensors with the same structure, and the two distance measuring sensors in each set of distance measuring modules are arranged at intervals, and can respectively measure the distance between them and the guide plate 22, and feed back the measured data to the main control module 21. The main control module 21 analyzes the difference between the two sets of data, thereby adjusting the rotation speeds of the first rotating shaft 2 and the second rotating shaft 3 accordingly, so that the entire steering mechanism returns to the position of a straight line (at this time, the two distance measuring sensors detect that the distances between them and the guide plate 22 are equal).

[0069] Through three groups of distance measuring modules, the distance between it and the guide plate 22 can be detected separately. The specific detection method is the same as the above detection method. When the first module group 18 completes the detection, the data is fed back to the main control module 21. After the main control module 21 adjusts the rotation speeds of the first rotating shaft 2 and the second rotating shaft 3 accordingly, the second module group 19 is used to measure again to confirm whether the overall position is adjusted correctly. If the data measured by the two distance measuring sensors in the second module group 19 are the same, it means that the steering mechanism is in a parallel state with the guide plate 22. If the data are different, it is fed back to the main control module 21. The main control module 21 adjusts the rotation speeds of the first rotating shaft 2 and the second rotating shaft 3 again. After the adjustment is completed, the third module group 20 is used again to detect again and feed back the data.

[0070] Through this design, the distances between the three sets of distance measuring modules and the guide plate 22 can be measured respectively under the action of the three sets of distance measuring modules, and the main control module 21 can be fed back to adjust the rotation speeds of the first rotating shaft 2 and the second rotating shaft 3. It can not only ensure the accuracy of the data, but also perform layer-by-layer detection in this way to ensure that the steering mechanism always remains parallel to the guide plate 22, thereby fundamentally preventing the occurrence of derailment events.

[0071] In this embodiment, the main control module 21 can be in the form of a single chip microcomputer or a microcomputer. This design is a commonly used control method in the prior art in this field and will not be described in detail here.

[0072] In addition, in order to further prevent derailment, a limit assembly is specially added in this embodiment; the limit assembly includes a limit guide wheel rotatably arranged on the frame 1, and a preset gap is provided between the limit guide wheel and the running space and / or the guide plate 22.

[0073] In this embodiment, there are two groups of limiting components (a first limiting wheel group 23 and a second limiting wheel group 24), the first limiting wheel group 23 and the second limiting wheel group 24 each include two limiting guide wheels, and during specific installation, the first group of limiting wheel groups is located between the first group of ranging modules and the second group of ranging modules, and the second group of limiting wheel groups is located between the second group of ranging modules and the third group of ranging modules.

[0074] In this embodiment, there are two ways to set the guide plate 22, one is a plate-shaped and the other is a block-shaped; Figure 4 , Figure 5 When the guide plate 22 is in the shape of a plate, there is a guide channel (not shown) between the two limit guide wheels in the first limit wheel group 23 and the second limit wheel group 24, through which the guide plate 22 passes. At this time, the two limit guide wheels are in contact with the two side walls of the guide plate 22 respectively; there is an active channel (not shown) between the two distance sensors in each set of distance measurement modules, through which the guide plate 22 passes. The two distance sensors face the guide plate 22 respectively and measure the distance between them and the guide plate 22 respectively. The guide channel and the active channel are coaxially arranged to ensure that the guide plate 22 can pass through in sequence.

[0075] When the guide plate 22 is block-shaped (not shown in the figure), a limit groove is provided at the bottom of the guide plate 22 in an extended axial direction, and the two limit guide wheels in the first limit wheel group 23 and the second limit wheel group 24 are in contact with the side walls of the limit groove respectively; and the two distance sensors in each group of distance measuring modules are close to each other, and are respectively arranged in the direction of the side walls of the guide groove to measure the distance between them and the side walls of the guide groove. The arrangement of the two guide plates 22 does not affect the overall coordination of the distance measuring module and the main control module 21, and the principle of the entire measurement does not change. In this embodiment, the guide plate 22 is in the form of a plate, but in the specific use process, different forms can also be adopted according to different usage scenarios. I will not go into details here.

[0076] Further, in order to ensure the safety of the entire device, an emergency brake device 25 is specially added in the present embodiment, and the emergency brake device 25 is connected to the main control module 21 for communication. When an emergency occurs, the emergency brake device 25 can be controlled to open by the main control module 21, thereby realizing the emergency brake of the entire box. For example, when the two distance sensors in each group measure the gap between the distance between the guide plate 22 and the guide plate 22 is greater than the maximum value preset in the main control module 21, a derailment accident may occur at this time, so when the distance sensor transmits the distance information to the main control module 21, the main control module 21 analyzes the data and immediately reacts to control the emergency brake device 25 to open and perform emergency braking.

[0077] In this embodiment, the emergency brake device 25 adopts a conventional brake device in the prior art, which is a mature technology in the conventional prior art in this field and will not be described in detail here.

[0078] In addition, in order to make the entire device more stable, in this embodiment, a rotatable bottom safety wheel 26 is further provided at the bottom of the frame 1 . There are four bottom safety wheels 26 , which are evenly distributed along the circumference of the frame 1 .

[0079] In addition, please combine Figure 7 This embodiment also provides a driving bogie, including: a connecting frame 2000 and the driving steering mechanism 1000; two driving steering mechanisms 1000 are respectively arranged at both ends of the connecting frame 2000. Through the cooperation of the two driving steering mechanisms 1000, the entire bogie can stably operate normally on two tracks.

[0080] In addition, the present embodiment also provides a control method for a steering mechanism, including: a distance measuring module and a main control module 21, using the distance measuring module to measure the distance between the guide plate 22 in the same running space, and transmitting the distance information to the main control module 21 via an electrical signal;

[0081] The main control module 21 controls the rotation speed of the first rotating shaft 2 and the second rotating shaft 3 separately according to the distance information, and adjusts the detection module to measure the distance between the guide plate 22 in the same running space;

[0082] The distance measuring module measures the distance between itself and the guide plate 22 of the travel space after adjustment, and transmits the distance information to the main control module 21 through an electrical signal. The main control module 21 further corrects the rotation speeds of the first rotating shaft 2 and the second rotating shaft 3 .

[0083] It should be noted that the control method in this embodiment is implemented based on the above-mentioned driving steering mechanism 1000 , and the specific distance measurement module and the main control module 21 are both structures in the driving steering mechanism 1000 .

[0084] The distance between the two distance sensors and the guide plate 22 is detected by the first group of distance measuring modules, and the data is fed back to the main control module 21. After the main control module 21 adjusts the rotation speed of the first rotating shaft 2 and the second rotating shaft 3 accordingly, the second group of distance measuring modules is used to measure again to confirm whether the overall position is adjusted correctly. If the data measured by the two distance measuring sensors in the second group of distance measuring modules are the same, it means that the steering mechanism is in a parallel state with the guide plate 22. If the data are different, it is fed back to the main control module 21. The main control module 21 adjusts the rotation speed of the first rotating shaft 2 and the second rotating shaft 3 again. After the adjustment is completed, the third group of distance measuring modules is used again to detect again and feed back the data.

[0085] In summary, the embodiment of the present application provides a driving steering mechanism 1000, which can fully utilize the volume of the running space in a limited running space and reduce the size of the driving mechanism under the premise of ensuring sufficient driving force of the driving mechanism, so that the entire steering mechanism can fully utilize the size of the running space and obtain the maximum driving force. A driving bogie is implemented based on the above-mentioned driving steering mechanism 1000. Compared with a traditional bogie, it occupies a smaller volume and can effectively reduce the overall volume, thereby making the entire bogie more flexible. A driving bogie control method is implemented based on the above-mentioned driving steering mechanism 1000. It can quickly detect the spacing between the two sides of the steering mechanism and the walking space guide plate 22, so as to adjust the rotation speed of the running wheels on both sides according to the size of the spacing, thereby effectively controlling the steering mechanism.

[0086] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A driving steering mechanism, characterized in that: include: A frame and a running wheel and a driving mechanism connected thereto, wherein the driving mechanism comprises a first rotating shaft and a second rotating shaft that rotate independently; the first rotating shaft and the second rotating shaft are respectively connected to the running wheel; a preset angle α is set between the first rotating shaft, the second rotating shaft and the running direction of the driving mechanism, α is greater than 75° and less than 105°; a distance L between the central axis of the first rotating shaft and the central axis of the second rotating shaft is greater than 0, and L is less than the diameter of the running wheel; the frame is provided with a limit assembly; the limit assembly comprises a limit guide wheel rotatably arranged on the frame, a guide plate is arranged in the running space, and a preset gap is provided between the limit guide wheel and the guide plate; the steering mechanism further comprises: a distance measuring module and a main control module; the distance measuring module is arranged on the frame, a guide channel for the guide plate (22) to pass through is provided between the two limit guide wheels, and a guide plate (22) is provided between the two distance sensors in the distance measuring module The two distance sensors are respectively directed toward the guide plate (22) to measure the distance between them and the guide plate (22); the main control module is respectively connected to the distance measurement module and the driving mechanism for communication; and is used to receive the distance data sent by the distance measurement module and to adjust the rotation speeds of the first rotating shaft and the second rotating shaft accordingly.

2. The driving steering mechanism according to claim 1, characterized in that: The running wheels include a first running wheel connected to the first rotating shaft and a second running wheel connected to the second rotating shaft; the central axis of the first running wheel coincides with the central axis of the second running wheel.

3. The driving steering mechanism according to claim 2, characterized in that: The first rotating shaft is connected to a first transmission gear, and the first running wheel is provided with a first driven gear meshing with the first transmission gear; the second rotating shaft is connected to a second transmission gear, and the second running wheel is provided with a second driven gear meshing with the second transmission gear.

4. The driving steering mechanism according to claim 3, characterized in that: The first transmission gear is located inside the rim of the first running wheel; the second transmission gear is located inside the rim of the second running wheel.

5. The driving steering mechanism according to claim 1, characterized in that: Along the moving direction of the steering mechanism, a plurality of distance measuring modules are arranged at intervals.

6. The driving steering mechanism according to claim 1, characterized in that: The steering mechanism further comprises an emergency brake device, which is arranged on the frame and is communicatively connected with the main control module.

7. A driving bogie, characterized in that: include: Connecting frame; and a driving steering mechanism according to any one of claims 1 to 6; The two driving steering mechanisms are respectively arranged at two ends of the connecting frame.

8. A method for controlling the driving steering mechanism according to claim 1, comprising: The distance measuring module and the main control module are characterized in that: the distance measuring module is used to measure the distance between the distance measuring module and the guide plate of the walking space, and the distance information is transmitted to the main control module through an electrical signal; the main control module controls the rotation speed of the first rotating shaft and the second rotating shaft separately according to the distance information, and adjusts the distance between the distance measuring module and the guide plate of the walking space; the distance measuring module measures the distance between itself and the guide plate of the walking space after adjustment, and transmits the distance information to the main control module through an electrical signal, and the main control module further corrects the rotation speed of the first rotating shaft and the second rotating shaft.

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