Self-balancing transport vehicle, control method and shield tunnel construction equipment

Abstract

The invention discloses a self-balancing transport vehicle, a control method and shield tunnel construction equipment. The self-balancing transport vehicle comprises a chassis; the driving wheel set comprises a left driving wheel and a right driving wheel which are arranged on the left transverse side and the right transverse side of the chassis respectively. The left driving part is arranged on the chassis and is used for driving the left driving wheel; the right driving part is arranged on the chassis and is used for driving the right driving wheel; the gyroscope sensing component is arranged on the chassis and is used for detecting the transverse inclination angle proportion of the chassis; the control device is configured to calculate adjustment parameters according to the information of the gyroscope sensing component, and adjust the output power of at least one of the left driving component and the right driving component according to the adjustment parameters. The inclination angle information of the transport vehicle is detected through the gyroscope sensing component, the output power of at least one of the left driving component and the right driving component is controlled during steering and curve line transport, and therefore it is guaranteed that the transport vehicle can achieve automatic deviation rectification in time to prevent rollover, and the material transport efficiency is greatly improved.

Description

Technical Field

[0001] The present application relates to the technical field of pipeline construction, and in particular to a self-balancing transport vehicle, a control method and shield tunnel construction equipment. Background Art

[0002] When installing the partition plates in shield tunnels, the original segment transport tracks need to be removed. Only after the partition plates are constructed can the electromechanical wires and equipment be installed. Since there are no ground lifting ports in the shield tunnel section, the horizontal transportation distance of materials is long, and the space in each compartment is small, making it difficult to lay tracks. The usual practice is to use small flatbed trucks to transport materials. However, due to the large horizontal and vertical curvature of the shield line, and the unfilled hand holes and grouting holes on the segments, small flatbed trucks often run off the track, overturn, get stuck, and other faults in the circular shield, requiring frequent manual adjustments, which greatly reduces the efficiency of material transportation. Summary of the invention

[0003] The purpose of the present application is to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes a self-balancing transport vehicle, which can not only automatically correct deviation and prevent rollover during transportation on a curved line of a circular shield tunnel, but also greatly improve the material transportation efficiency.

[0004] The present application also proposes a control method for the self-balancing transport vehicle.

[0005] The present application also proposes a shield tunnel construction equipment including the above-mentioned self-balancing transport vehicle.

[0006] A self-balancing transport vehicle according to an embodiment of the first aspect of the present application includes:

[0007] Chassis;

[0008] A driving wheel group, comprising a left driving wheel and a right driving wheel respectively arranged on the left and right sides of the chassis;

[0009] A left driving component, disposed on the chassis and used to drive the left driving wheel;

[0010] A right driving component, disposed on the chassis and used to drive the right driving wheel;

[0011] A gyroscope sensor component is arranged on the chassis and is used to detect the lateral tilt ratio of the chassis;

[0012] The control device is configured to calculate an adjustment parameter based on information from the gyro sensor component, and adjust the output power of at least one of the left drive component or the right drive component based on the adjustment parameter.

[0013] The self-balancing transport vehicle according to the first aspect of the present application has at least the following beneficial effects: by utilizing the gyroscope sensor component to detect the inclination information of the transport vehicle, the output power of at least one of the left drive component or the right drive component is controlled respectively during turning and curved line transportation, thereby ensuring that the transport vehicle can automatically correct its deviation and prevent rollover, thereby greatly improving the material transportation efficiency.

[0014] According to the self-balancing transport vehicle described in the first aspect of the present application, the control device calculates the electrical signal proportionally to increase or decrease the output power of the right driving component through a function, and the function is: Qright=K×G+Qleft;

[0015] Among them, K is the electrical signal amplification factor, G is the reading of the gyroscope sensor component, Qright is the output power of the right drive component, and Qleft is the output power of the left drive component.

[0016] According to the self-balancing transport vehicle described in the embodiment of the first aspect of the present application, the power of the left driving component is set to the initial power, and the control device can be used to adjust the parameters of the K value and the initial power.

[0017] According to the self-balancing transport vehicle described in the embodiment of the first aspect of the present application, the self-balancing transport vehicle also includes a driven wheel group, and the driven wheel group is respectively arranged on the left and right sides of the chassis at the other end opposite to the driving wheel group.

[0018] According to the self-balancing transport vehicle described in the embodiment of the first aspect of the present application, the driven wheel group includes a plurality of wheels arranged in a single row.

[0019] According to the self-balancing transport vehicle described in the embodiment of the first aspect of the present application, at least one of the left driving component or the right driving component includes a motor, a gear box and a wheel seat, the motor and the gear box are arranged on the chassis, the gear box is connected to the motor and is used to output driving force, the wheel seat is arranged on the chassis, and the wheel seat is provided with a bearing for installation.

[0020] According to the self-balancing transport vehicle described in the embodiment of the first aspect of the present application, the chassis is further provided with a guardrail, the guardrails are respectively arranged on the periphery of the left driving component and the right driving component, the gyroscope sensor component is arranged in one of the guardrails, and the surface of the guardrail is provided with a plurality of reinforcing ribs;

[0021] The chassis is also provided with armrests and battery components, wherein the armrests are arranged on both sides of the chassis, and the battery components are used to supply power to the left driving component and the right driving component;

[0022] The chassis includes a frame and a panel arranged on the frame.

[0023] According to the second aspect of the present application, a method for controlling a self-balancing transporter comprises the following steps:

[0024] The initial parameter state of the chassis is set, the left driving component drives the left driving wheel according to a first preset power, and the right driving component drives the right driving wheel according to a second preset power;

[0025] The gyro sensor component obtains the lateral tilt angle ratio of the chassis and compares it with the initial parameter state of the chassis;

[0026] An adjustment parameter is calculated based on the information obtained by the gyro sensor component, and at least one of the left driving component or the right driving component responds to the adjustment parameter and controls the output power to restore the chassis to an initial parameter state.

[0027] According to the control method of the self-balancing transport vehicle described in the second embodiment of the present application, when the left side of the chassis is raised, the gyroscope sensor component outputs a positive inclination angle, and the power of the right drive component is reduced to make the chassis turn right and return to normal;

[0028] When the right side of the chassis is lifted, the gyro sensor component outputs a negative tilt angle, and the power of the right drive component increases to make the chassis turn left and return to normal.

[0029] According to the shield tunnel construction equipment of the third aspect embodiment of the present application, it includes: the self-balancing transport vehicle as described in the first aspect embodiment of the present application.

[0030] It is not difficult to understand that the control method of the self-balancing transport vehicle in the second aspect embodiment of the present application and the shield tunnel construction equipment in the third aspect embodiment of the present application both have the technical effects of the self-balancing transport vehicle in the first aspect embodiment described above, and therefore will not be described in detail.

[0031] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The present application is further described below with reference to the accompanying drawings and embodiments;

[0033] Figure 1 This is a schematic diagram of the structure of an embodiment of the present application;

[0034] Figure 2 A top view of an embodiment of the present application;

[0035] Figure 3 This is a schematic diagram of an embodiment of the present application at a construction site.

[0036] Reference numerals:

[0037] 100, chassis; 101, frame; 102, panel; 110, guardrail; 120, handrail; 130, battery component;

[0038] 210, left driving wheel; 220, right driving wheel;

[0039] 300, left drive component;

[0040] 400, right drive component; 410, motor; 420, gear box; 430, wheel seat;

[0041] 500. Gyroscope sensor components;

[0042] 600. Driven wheel set. DETAILED DESCRIPTION

[0043] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0044] In the description of the present application, it should be understood that descriptions involving orientation, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and 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 orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0045] In the description of this application, "several" means one or more, "more" means at least two, "greater than", "less than", "exceed", etc. are understood to exclude the number itself, and "above", "below", "within", etc. are understood to include the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0046] In the description of this application, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in this application after combining the specific content of the technical solution.

[0047] Reference Figures 1 to 3 The self-balancing transport vehicle of the first embodiment of the present application is used for construction in shield tunnels and circular pipes. The self-balancing transport vehicle includes a chassis 100, a driving wheel group, a left driving component 300, a right driving component 400, a gyroscope sensor component 500 and a control device.

[0048] The driving wheel group includes a left driving wheel 210 and a right driving wheel 220 respectively arranged on the left and right sides of the chassis 100; the left driving component 300 is arranged on the chassis 100 and is used to drive the left driving wheel 210; the right driving component 400 is arranged on the chassis 100 and is used to drive the right driving wheel 220; the gyroscope sensor component 500 is arranged on the chassis 100 and is used to detect the lateral inclination ratio of the chassis 100; the control device is configured to be able to calculate the adjustment parameter according to the information of the gyroscope sensor component 500, and adjust the output power of at least one of the left driving component 300 or the right driving component 400 according to the adjustment parameter.

[0049] It can be understood that the two driving wheel groups are respectively located on both sides of the front of the chassis 100, and the transport vehicle moves through the two driving wheel groups. The two driving components are located on the chassis 100 and provide power for the two driving wheel groups. The two driving components can independently adjust the output power; the gyroscope sensor component 500 is used to convert the lateral inclination angle ratio of the chassis 100 into an electrical signal reading, and then automatically adjust the output power of the right or left driving component.

[0050] In some embodiments, the control device is used to receive information from the gyro sensor component 500 and is capable of adjusting the output power of at least one of the left driving component 300 or the right driving component 400.

[0051] It should be noted that the self-balancing transport vehicle of the present application uses a gyroscope sensor component 500 to detect the inclination information of the transport vehicle, and controls the output power of at least one of the left drive component 300 or the right drive component 400 when turning or transporting on a curved line, thereby ensuring that the transport vehicle can automatically correct its deviation and prevent rollover, thereby greatly improving the material transportation efficiency.

[0052] In some embodiments of the present application, the control device calculates the electrical signal proportionally to increase or decrease the output power of the right driving component 400 through a function, and the function is: Qright=K×G+Qleft;

[0053] Among them, K is the electrical signal amplification factor, G is the reading of the gyroscope sensor component 500, Qright is the output power of the right driving component 400, and Qleft is the output power of the left driving component 300.

[0054] In some embodiments, the gyro sensor component 500 is disposed behind the right driving component 400 to convert the lateral tilt angle ratio of the chassis 100 into an electrical signal reading, thereby automatically adjusting the output power of the right motor.

[0055] In some embodiments, the gyro sensing component 500 includes a gyro sensor, and the gyro sensor is welded to the chassis 100 .

[0056] It is understandable that the gyro sensor can convert the horizontal tilt reading of the chassis 100 into an electrical signal proportionally increasing or decreasing the right motor output power through the function "right motor power = K × reading + left motor power", where K is the electrical signal amplification factor (generally set to -1), and the left motor power is the initial power (generally set to 50). When the left side of the transport vehicle is raised, the gyro sensor outputs a positive tilt angle, the right motor power decreases, and the transport vehicle turns right back to the positive position; when the right side of the transport vehicle is raised, the gyro sensor outputs a negative tilt angle, the right motor power increases, and the transport vehicle turns left back to the positive position.

[0057] In some embodiments, the power of the left driving component 300 is set as the initial power, and the control device can be used to adjust the K value and the parameters of the initial power. In addition, the parameter K value and the parameter initial power of the gyro sensor can be adjusted. It should be noted that by using the power of the left driving component 300 as the initial power and only controlling the output power of the right driving component 400 to achieve automatic deviation correction, the control method can be simplified and the control accuracy can be improved.

[0058] In some embodiments of the present application, the self-balancing transport vehicle further includes a driven wheel set 600, which is respectively arranged on the left and right sides of the chassis 100 opposite to the other end of the driving wheel set. It can be understood that the driven wheel set 600 is symmetrically arranged at the rear lower part of the chassis 100, and the driven wheel set 600 is used to support the weight of the transport vehicle.

[0059] In some embodiments, the driven wheel assembly 600 includes a plurality of wheels arranged in a single row. It is understandable that the driven wheel assembly 600 includes a wheel seat 430 and a driven wheel, the wheel seat 430 is welded to the chassis 100, and the driven wheel is connected to the wheel seat 430 via a bearing. The row of wheels used can also effectively avoid wheel jamming, thereby greatly improving material transportation efficiency.

[0060] In some embodiments of the present application, at least one of the left driving component 300 or the right driving component includes a motor 410, a gear box 420, a wheel seat 430 and a driving wheel, the gear box 420 is disposed on the chassis 100 and is used to connect the motor 410 and the driving wheel respectively, the wheel seat 430 is disposed on the chassis 100, and the driving wheel is rotatably disposed on the wheel seat 430 and is used to output power. It can be understood that the gear box 420 is fixedly disposed on the chassis 100 and is located in front of the motor, the gear box 420 transmits the motor power to the driving wheel, the wheel seat 430 is welded to the bottom of the chassis 100, and the wheel seat 430 is connected to the driving wheel through a bearing.

[0061] In some embodiments, the left driving component 300 and the right driving component have the same structure, both including a motor 410, a gear box 420, a wheel seat 430 and a driving wheel. The motor 410 of the left driving component 300 drives the left driving wheel 210 through the gear box 420, and the wheel seat 430 of the left driving component 300 is used to set the left driving wheel 210. The motor 410 of the right driving component 400 drives the right driving wheel 220 through the gear box 420, and the wheel seat 430 of the right driving component 400 is used to set the right driving wheel 220.

[0062] In some embodiments of the present application, the chassis 100 is further provided with guardrails 110, which are respectively arranged at the peripheries of the left driving component 300 and the right driving component 400, and the gyroscope sensor component 500 is arranged in one of the guardrails 110. It can be understood that the guardrails 110 are used to protect the driving components, the battery and the gyroscope sensor component 500.

[0063] In some embodiments, a plurality of reinforcing ribs are provided on the surface of the guardrail 110. The guardrail 110 is a "["-shaped thin iron sheet with reinforced steel bars inside, and the guardrail 110 is welded to the chassis 100.

[0064] In some embodiments of the present application, the chassis 100 is further provided with an armrest 120 and a battery component 130. The armrest 120 is provided on both sides of the chassis 100. The battery component 130 is used to supply power to the left driving component 300 and the right driving component 400. It can be understood that the armrest 120 is used to prevent the transported items from rolling down. The battery is provided behind the right motor to supply power to the two motors.

[0065] In some embodiments, the chassis 100 includes a frame 101 and a panel 102 disposed on the frame 101. The frame 101 is welded from square steel and is a "mouth"-shaped frame with internal scissor braces for reinforcement. The panel 102 is a rectangular thin iron sheet with the same projection area as the frame 101, and the panel 102 is welded to the frame 101.

[0066] Reference Figures 1 to 3 The control method of the self-balancing transport vehicle of the second embodiment of the present application may be the control method of the self-balancing transport vehicle of the first embodiment of the present application, and the control method of the self-balancing transport vehicle comprises the following steps:

[0067] The initial parameter state of the chassis 100 is set, the left driving component 300 drives the left driving wheel 210 according to the first preset power, and the right driving component 400 drives the right driving wheel 220 according to the second preset power;

[0068] The gyro sensor component 500 obtains the lateral tilt angle ratio of the chassis 100 and compares it with the initial parameter state of the chassis 100;

[0069] The adjustment parameter is calculated based on the information obtained by the gyro sensor component 500, and at least one of the left driving component 300 or the right driving component 400 responds to the adjustment parameter and controls the output power to restore the chassis 100 to the initial parameter state.

[0070] In some embodiments of the present application, when the left side of the chassis 100 is raised, the gyroscope sensor component 500 outputs a positive tilt angle, and the power of the right drive component 400 is reduced to make the chassis 100 turn right and return to the center; when the right side of the chassis 100 is raised, the gyroscope sensor component 500 outputs a negative tilt angle, and the power of the right drive component 400 is increased to make the chassis 100 turn left and return to the center. It can be understood that by only controlling the output power of the right drive component 400 to achieve automatic deviation correction, the control method can be simplified and the control accuracy can be improved.

[0071] In some embodiments of the present application, there are two driving wheel groups, which are arranged in front of both sides of the chassis 100, and the driving wheel groups are used to drive the materials on the transport vehicle to move. There are two motors, and the two motors provide power for the two driving wheel groups respectively. The battery is located behind the right motor, and the two motors are powered by cables. The gyroscope sensor is located on the chassis 100, and the gyroscope sensor is used to convert the lateral inclination reading of the chassis 100 into an electrical signal and then change the power of the right motor. There are two guard plates, and the two guard plates respectively protect the motors, batteries and gyroscope sensors on both sides. There are two driven wheel groups 600, and the two driven wheel groups 600 are respectively located behind both sides of the chassis 100, and the driven wheel groups 600 are used to support the transport vehicle. There are two handrails 120, and the two handrails 1200 are respectively located on both sides of the chassis 100 to prevent the transported materials from rolling off.

[0072] When in use, the chassis 100 carries the material, the transport vehicle is placed horizontally on the shield tunnel segment, the driving wheel group faces the forward direction, the chassis 100 carries the material, and the motor is started to move. When the tunnel line turns right, because the tunnel is a circular cross-section, the left side of the chassis 100 rises, and the gyroscope sensor outputs a positive inclination angle, which is converted into an electrical signal ratio through the function "right motor power = K (generally -1) × reading + left motor power (generally 50)" to reduce the right motor power, the left motor power remains unchanged, and the transport vehicle turns right to return the chassis 100 to zero; when the tunnel line turns left, the right side of the chassis 100 rises, the gyroscope sensor outputs a negative inclination angle, and then increases the right motor power, the left motor power remains unchanged, and the transport vehicle turns left to return the chassis 100 to zero.

[0073] Reference Figures 1 to 3 The shield tunnel construction equipment of the third aspect embodiment of the present application includes the self-balancing transport vehicle of the first aspect embodiment of the present application, and also includes other supporting devices to improve the construction efficiency of the shield tunnel.

[0074] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0075] The embodiments of the present application are described in detail above in conjunction with the accompanying drawings, but the present application is not limited to the above embodiments. Various changes can be made within the knowledge scope of ordinary technicians in the technical field without departing from the purpose of the present application.

Claims

1. A self-balancing transport vehicle, characterized in that: include: Chassis; A driving wheel group, comprising a left driving wheel and a right driving wheel respectively arranged on the left and right sides of the chassis; A left driving component, disposed on the chassis and used to drive the left driving wheel; A right driving component, disposed on the chassis and used to drive the right driving wheel; A gyroscope sensor component is arranged on the chassis and is used to detect the lateral tilt ratio of the chassis; The control device is configured to calculate an adjustment parameter based on information from the gyro sensor component, and adjust the output power of at least one of the left drive component or the right drive component based on the adjustment parameter.

2. The self-balancing transport vehicle according to claim 1, characterized in that: The control device calculates the electrical signal proportion by a function to increase or decrease the output power of the right driving component, and the function is: Qright=K×G+Qleft; Among them, K is the electrical signal amplification factor, G is the reading of the gyroscope sensor component, Qright is the output power of the right drive component, and Qleft is the output power of the left drive component.

3. The self-balancing transport vehicle according to claim 2, characterized in that: The power of the left driving component is set as the initial power, and the control device can be used to adjust the parameters of the K value and the initial power.

4. The self-balancing transport vehicle according to claim 1, characterized in that: The self-balancing transport vehicle further comprises a driven wheel set, and the driven wheel sets are respectively arranged on the left and right sides of the chassis at the other end opposite to the driving wheel set.

5. The self-balancing transport vehicle according to claim 4, characterized in that: The driven wheel set includes a plurality of wheels arranged in a single row.

6. The self-balancing transport vehicle according to claim 1, characterized in that: At least one of the left driving component or the right driving component includes a motor, a gear box and a wheel seat, wherein the motor and the gear box are arranged on the chassis, the gear box is connected to the motor and is used to output driving force, and the wheel seat is arranged on the chassis, and a bearing for installation is provided on the wheel seat.

7. The self-balancing transport vehicle according to claim 1, characterized in that: The chassis is also provided with guardrails, which are respectively arranged on the peripheries of the left driving component and the right driving component, the gyroscope sensor component is arranged in one of the guardrails, and the surface of the guardrail is provided with a plurality of reinforcing ribs; The chassis is also provided with armrests and battery components, wherein the armrests are arranged on both sides of the chassis, and the battery components are used to supply power to the left driving component and the right driving component; The chassis includes a frame and a panel arranged on the frame.

8. A method for controlling a self-balancing transport vehicle according to any one of claims 1 to 7, characterized in that: The following steps are involved: The initial parameter state of the chassis is set, the left driving component drives the left driving wheel according to a first preset power, and the right driving component drives the right driving wheel according to a second preset power; The gyro sensor component obtains the lateral tilt angle ratio of the chassis and compares it with the initial parameter state of the chassis; An adjustment parameter is calculated based on the information obtained by the gyro sensor component, and at least one of the left driving component or the right driving component responds to the adjustment parameter and controls the output power to restore the chassis to an initial parameter state.

9. The control method of the self-balancing transport vehicle according to claim 8, characterized in that: When the left side of the chassis is raised, the gyro sensor component outputs a positive tilt angle, and the power of the right drive component is reduced to make the chassis turn right and return to normal; When the right side of the chassis is lifted, the gyro sensor component outputs a negative tilt angle, and the power of the right drive component increases to make the chassis turn left and return to normal.

10. A shield tunnel construction equipment, characterized in that: include: A self-balancing transporter as claimed in any one of claims 1 to 7.

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