Heavy-load rail type unmanned vehicle and operation method

Abstract

The invention belongs to the technical field of rail-mounted unmanned vehicles, and particularly relates to a heavy-load rail-mounted unmanned vehicle and an operation method.The heavy-load rail-mounted unmanned vehicle comprises an upper vehicle body assembly, a lower frame assembly, a limiting wheel assembly and a shell assembly.The upper vehicle body assembly is erected on the upper surface of a rail, and the lower frame assembly is connected with the upper vehicle body assembly through bolts; the lower frame assembly is provided with a limiting wheel assembly for clamping a guide rail, the speed operation mode is that the unmanned vehicle is controlled to move by receiving a speed mode switching instruction of an upper computer and changing the speed value of the unmanned vehicle, and the position operation mode is that the unmanned vehicle is controlled to move by receiving a position mode switching instruction of the upper computer and changing the speed value of the unmanned vehicle. The unmanned vehicle needs to be controlled to move by setting the speed value and the position value of the unmanned vehicle, and the unmanned vehicle needs to be manually controlled to stop running in the speed running mode; in the position operation mode, manual parking is not needed, only the position needs to be set in advance, the unmanned vehicle decelerates in advance before moving to the designated position, and accurate parking is conducted after the unmanned vehicle reaches the designated position.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of rail unmanned vehicles, and particularly relates to a heavy-load rail unmanned vehicle and a running method. BACKGROUND

[0002] The scheme adopted by the prior art is to use an internal encoder of a motor for positioning design or not to use an automatic positioning function, and a driver is a general shelf product, and a controller is designed by an end user according to requirements. The existing rail unmanned vehicle has slow speed, low positioning accuracy or no automatic positioning function. SUMMARY

[0003] The present application aims to provide a heavy-load rail unmanned vehicle and a running method to solve the above technical problems.

[0004] To achieve the above-mentioned purpose, the specific technical scheme of the heavy-load rail unmanned vehicle and the running method of the present application is as follows: A heavy-load rail unmanned vehicle comprises an upper vehicle body assembly, a lower frame assembly, a limiting wheel assembly and a shell assembly. The upper vehicle body assembly is arranged on the upper surface of a rail. The lower frame assembly is connected to the upper vehicle body assembly through bolts. The limiting wheel assembly with clamping guide rails is installed on the lower frame assembly to prevent the rail unmanned vehicle from derailing due to left and right shaking during movement on the guide rail. The shell assembly is installed on the upper vehicle body assembly to prevent rain from directly splashing on the electrical equipment.

[0005] Further, the upper vehicle body assembly comprises a vehicle body frame, a traveling wheel set, a synchronous wheel set, a shock absorbing column, a metering wheel, a main equipment mounting plate, a servo motor and a servo motor controller. The vehicle body frame is fixedly installed on the main equipment mounting plate. The shock absorbing columns are installed at both ends of the main equipment mounting plate. The servo motor and the servo motor controller for controlling the servo motor are installed on the main equipment mounting plate. The traveling wheel set is rotatably installed on the main equipment mounting plate. The traveling wheel set is fixedly connected by a traveling wheel shaft and three traveling wheels. Two sets of the traveling wheel set are provided. The two sets of the traveling wheel set and the servo motor are connected and driven by the synchronous wheel set. The synchronous wheel set comprises an output pulley A, two driven pulleys A, a synchronous belt and a tension pulley. The output pulley A is installed on the output shaft of the servo motor. The driven pulleys A are installed on the traveling wheel shaft of the traveling wheel set. The travel switches are installed at both ends of the main equipment mounting plate. The metering wheel for counting is installed at the lower end of the main equipment mounting plate. The metering wheel and the traveling wheel are in rolling contact with the upper surface of the rail, Further, the lower frame assembly is a load hanger. The load hanger is an L-shaped aluminum alloy structural member.

[0006] Further, the load hanger is provided with a fork assembly. A slide wire is installed on the rail. The current collector for supplying power to the rail unmanned vehicle is installed on the fork assembly. The fork assembly is used to drive the current collector to move synchronously with the rail unmanned vehicle in the slide wire during movement of the rail unmanned vehicle.

[0007] Further, the shell assembly is formed by bending and welding sheet metal.

[0008] Further, the limiting wheel assembly includes an adjustable side spring wheel group, a side wheel assembly and a lower wheel group, the adjustable side spring wheel group includes a mounting frame A, a T-shaped wheel A, a connecting plate A, an adjusting spring and a limiting nut, the mounting frame A is slidingly installed on the connecting plate A, the adjusting spring is installed between the mounting frame A and the connecting plate A, the T-shaped wheel A is rotatably installed on the mounting frame A, the connecting plate A is fixedly installed on the lower frame assembly, and the mounting frame A is threadedly connected with the limiting nut to adjust the pre-tightening force of the adjusting spring. The side wheel assembly includes a mounting seat B, a wheel shaft B and a T-shaped wheel B, the wheel shaft B is fixedly installed on the mounting seat B, and the T-shaped wheel B is rotatably installed on the wheel shaft B, and the mounting seat B is fixedly installed on the lower frame assembly. The lower wheel group includes a wheel shaft C and a T-shaped wheel C, the T-shaped wheel C is rotatably installed on the wheel shaft C, and the wheel shaft C is fixedly installed on the lower frame assembly. The T-shaped wheel A, the T-shaped wheel B and the T-shaped wheel C are all "T" shaped structures, the small diameter is 55 mm, the large diameter is 65 mm, and the total thickness is 29 mm. Four sets of the side wheel assemblies are installed on the inner side of the guide rail, and four sets of the adjustable side spring wheel groups are installed on the outer side of the guide rail; the adjustable side spring wheel groups can adjust the pre-tightening force according to the width of the guide rail to adapt to the guide rail error. Four sets of the adjustable side spring wheel groups and two lower wheel groups are installed on the lower frame, and the other two side wheel assemblies are installed on the vehicle body frame of the upper vehicle body assembly.

[0009] Further, a running method of a heavy-load track type unmanned vehicle, steps are: S1: When initializing, the state of electrical equipment such as travel switch and servo motor is intelligently detected to be normal, if the state is not normal, the fault word is reported, the start is stopped, and then the repair is waited; S2: If the equipment is normal after detection, the original point action is started to run, whether the unmanned vehicle returns to the original point is judged by judging whether the original point is triggered in the process of returning to the original point, and the unmanned vehicle stops after returning to the original point and clears the current position value; S3: After the unmanned vehicle initializes and returns to the original point, whether the limit data is correct is judged, if not, the unmanned vehicle issues a stop and slows down; after the correct data is re-bound, the unmanned vehicle can receive other motion control instructions.

[0010] Further, the operation method of the unmanned vehicle is divided into a speed operation mode and a position operation mode, the speed operation mode is to control the movement of the unmanned vehicle by changing the speed value of the unmanned vehicle through receiving the speed mode switching instruction of the upper computer, the position operation mode is to control the movement of the unmanned vehicle by setting the speed value and the position value of the unmanned vehicle through receiving the position mode switching instruction of the upper computer, the speed operation mode needs to manually control the unmanned vehicle to stop running, and the position operation mode does not need to manually stop, only needs to set the position in advance, the unmanned vehicle slows down in advance before reaching the specified position, and accurately stops after reaching the specified position.

[0011] Further, the position instruction operation will issue instructions according to the data content limit, and the issued position point does not exceed the soft limit. Based on the control requirement, the step deceleration function is adopted when approaching the target point position, so that the unmanned vehicle can accurately and accurately stop at the specified position; the unmanned vehicle is designed as a speed limit section 10 meters before the soft limit, and the "deceleration parking" is completed before the soft limit; then, normal reverse control can be realized, so that the safety and reliability of the unmanned vehicle are ensured.

[0012] The advantages of the present application are: The speed operation mode is controlled by receiving the speed mode switching instruction of the upper computer, and the position operation mode is controlled by receiving the position mode switching instruction of the upper computer, and the speed value and the position value of the unmanned vehicle need to be set to control the movement of the unmanned vehicle, and the speed operation mode needs to manually control the stop of the unmanned vehicle; the position operation mode does not need to manually stop, and only needs to set the position in advance, and the unmanned vehicle slows down before reaching the specified position, and accurately stops after reaching the specified position. When the position instruction is running, the instruction is issued according to the data content limit, the position point issued does not exceed the soft limit, based on the control requirement, when approaching the target point position, the step deceleration function is adopted, to ensure that the unmanned vehicle can accurately stop at the specified position; the unmanned vehicle is designed as a speed limit section 10 meters in front of the soft limit, and the "deceleration stop" is completed in front of the soft limit; then, the normal reverse control can be realized, to ensure the safety and reliability of the unmanned vehicle. The external encoder (cooperating with the self-developed metering wheel) is designed, to greatly solve the problems of inaccurate movement position, large error and slow reporting, and the present application can report the accurate position in real time under the condition of high-speed movement, and the position is calibrated through the external sensor (single turn), to realize the accurate positioning and stopping under the premise of high-speed (mounted) movement. The present application is used for mounting (automatic weapon) in the effective range of H-shaped rail and running to the specified position. The present application adopts the "C" type aluminum alloy structure frame structure, and is spliced into shape by bolts, and the "H" type rail is half wrapped in the vehicle body, and has the characteristics of high structural strength and light weight. The present application adopts the ring "H" type rail structure, and is installed on the overhanging "H" type rail, and compared with the traditional top hanging type and hoisting type, the present application saves more operation space, has higher speed and more stable structure. The load carrier of the present application adopts the "L" type structure, to improve the integrity of the equipment and avoid loosening during movement. Four sets of side spring wheel groups, two sets of side wheel assemblies and two sets of lower wheel groups are arranged in the structure of the present application, to keep the balance of the unmanned vehicle during movement. The side spring wheel group is provided with a spring, and the shaking caused by the track error during the movement of the unmanned vehicle is eliminated through the deformation of the spring. The side spring wheel group is provided with a "T" type wheel, and the metal step of the "T" type wheel is arranged in the inner side of the rail. The unmanned vehicle is prevented from derailing when being impacted. The present application has the advantages of high speed (the fastest running speed is 6m / s), high precision (the highest running precision error is 50cm, and the highest origin calibration error is 0.5cm), heavy load (the maximum mounting weight is 90Kg) and stability, and the present application has the characteristics of impact resistance, vibration resistance, heat and humidity resistance, rain resistance, salt mist resistance, sand dust resistance, low temperature resistance (the lowest normal operation temperature is minus 40 DEG C), high temperature resistance (the highest normal operation temperature is 70 DEG C) and the like. The electrical components used in the present application have 100% domesticization index; the production adopts the traditional machining process, and has the characteristics of short production cycle, stable and reliable machining process and the like. BRIEF DESCRIPTION OF DRAWINGS Figure 1 The whole structure of the present application is shownFigure 1 ; Figure 2 Overall structure of the present application Figure 2 ; Figure 3 Overall structure of the present application Figure 3 ; Figure 4 Cutting line position diagram of Figure 3 ; Figure 5 Structure diagram of the upper body assembly of the present application Figure 6 Cutting view along the B-B section of Figure 4 ; Figure 7 Cutting view along the C-C section of Figure 4 ; Figure 8 Structure diagram of the lower frame assembly of the present application Figure 9 Structure diagram of the limit wheel assembly of the present application Figure 10 Structure diagram of the adjustable side spring wheel assembly of the present application Figure 11 Structure diagram of the side wheel assembly of the present application Figure 12 Structure diagram of the lower wheel assembly of the present application Figure 13 Structure diagram of the housing assembly of the present application Figure 14 Structure diagram of the limit wheel assembly and track cooperation distribution of the present application Figure 1 ; Figure 15 Structure diagram of the limit wheel assembly and track cooperation distribution of the present application Figure 2 ; Figure 16 Flowchart of the speed operation instruction of the present application Figure 17 Flowchart of the deceleration parking operation instruction of the present application Figure 18 Flowchart of the position operation instruction of the present application Figure 19 Flowchart of the home operation instruction of the present application Figure 20 Overall flowchart of the present application Figure 21 Definition table one of the operation state of the present application Figure 22 Definition table two of the operation state of the present application Figure 23 A fault status definition table of the present invention; Explanation of the marks in the figure: upper body assembly 1; body frame 1-1; running wheel assembly 1-2; synchronous wheel assembly 1-3; shock absorber column 1-4; meter wheel 1-5; equipment main mounting plate 1-6; servo motor 1-7; servo motor controller 1-8; lower frame assembly 2; limiting wheel assembly 3; adjustable side spring wheel assembly 3-1; mounting bracket A3-1-1; T-type wheel A3-1-2; connecting plate A3-1-3; adjusting spring 3-1-4; limiting nut 3-1-5; side wheel assembly 3-2; mounting base B3-2-1; wheel axle B3-2-2; T-type wheel B3-2-3; lower wheel assembly 3-3; wheel axle C3-3-1; T-type wheel C3-3-2; shell assembly 4. DETAILED DESCRIPTION

[0013] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0014] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0015] Example 1 like Figures 1-4 As shown, a heavy-load rail-type unmanned vehicle includes an upper body assembly 1, a lower frame assembly 2, a limiting wheel assembly 3 and a shell assembly 4. The upper body assembly 1 is mounted on the upper surface of the track, and the lower frame assembly 2 is connected to the upper body assembly 1 by bolts. The lower frame assembly 2 is equipped with a limiting wheel assembly 3 for clamping the guide rail to prevent the unmanned vehicle from swaying left and right during its movement on the guide rail and causing derailment. The upper body assembly 1 is equipped with a shell assembly 4 to prevent rainwater from directly splashing onto electrical equipment.

[0016] Example 2 like Figures 5-7As shown, the upper vehicle body assembly 1 includes a vehicle body frame 1-1, a traveling wheel set 1-2, a synchronous wheel set 1-3, a shock absorbing column 1-4, a meter wheel 1-5, a main equipment mounting plate 1-6, a servo motor 1-7 and a servo motor controller 1-8. The vehicle body frame 1-1 is fixedly mounted on the main equipment mounting plate 1-6. Shock absorbing columns 1-4 are mounted on both ends of the main equipment mounting plate 1-6. A servo motor 1-7 and a servo motor controller 1-8 for controlling the servo motor 1-7 are mounted on the main equipment mounting plate 1-6. The traveling wheel set 1-2 is rotatably mounted on the main equipment mounting plate 1-6. The traveling wheel set 1-2 is driven by the traveling wheel The shaft and three running wheels are fixed in series. Two sets of running wheel groups 1-2 are provided. The two sets of running wheel groups 1-2 and the servo motor 1-7 are connected and driven by the synchronous wheel group 1-3. The synchronous wheel group 1-3 consists of an output pulley A, two driven pulleys A, a synchronous belt and a tensioning pulley. The output pulley A is installed on the output shaft of the servo motor 1-7, and the driven pulley A is installed on the running wheel axle of the running wheel group 1-2. Travel switches are installed at both ends of the main mounting plate 1-6 of the equipment. A meter wheel 1-5 for counting is installed at the lower end of the main mounting plate 1-6 of the equipment. The meter wheel 1-5 and the running wheel are in rolling contact with the upper surface of the track. Example 3 like Figure 8 As shown, the lower frame assembly 2 is a load hanger, and the load hanger is an "L"-shaped aluminum alloy structural member.

[0017] Among them, a fork assembly is installed on the load hanger, a busbar is installed on the track, and a current collector for supplying power to the unmanned vehicle is installed on the fork assembly. During the movement of the unmanned vehicle, the fork assembly is used to move the current collector in the busbar to move synchronously with the unmanned vehicle.

[0018] Example 4 like Figure 13 As shown, the housing assembly 4 is formed by bending and welding sheet metal.

[0019] Example 5 like Figures 9-12 and Figures 14-15 As shown, the limiting wheel assembly 3 includes an adjustable side spring wheel group 3-1, a side wheel assembly 3-2 and a lower wheel group 3-3, the adjustable side spring wheel group 3-1 includes a mounting frame A3-1-1, a T-shaped wheel A3-1-2, a connecting plate A3-1-3, an adjustment spring 3-1-4 and a limiting nut 3-1-5, the connecting plate A3-1-3 is slidably mounted with the mounting frame A3-1-1, the adjusting spring 3-1-4 is installed between the mounting frame A3-1-1 and the connecting plate A3-1-3, the T-shaped wheel A3-1-2 is rotatably mounted on the mounting frame A3-1-1, the connecting plate A3-1-3 is fixedly mounted on the lower frame assembly 2, the mounting frame A3-1-1 is threadedly connected to the limiting nut 3-1-5 to adjust the preload force of the adjusting spring 3-1-4; The side wheel assembly 3-2 includes a mounting seat B3-2-1, an axle B3-2-2 and a T-shaped wheel B3-2-3. The axle B3-2-2 is fixedly mounted on the mounting seat B3-2-1, and the T-shaped wheel B3-2-3 is rotatably mounted on the axle B3-2-2. The mounting seat B3-2-1 is fixedly mounted on the lower frame assembly 2; The lower wheel assembly 3-3 includes a wheel axle C3-3-1 and a T-shaped wheel C3-3-2. The T-shaped wheel C3-3-2 is rotatably mounted on the wheel axle C3-3-1, and the wheel axle C3-3-1 is fixedly mounted on the lower frame assembly 2; The T-wheel A3-1-2, T-wheel B3-2-3 and T-wheel C3-3-2 are all T-shaped structures, with a wheel diameter of 55mm, a large diameter of 65mm and a total thickness of 29mm; The four sets of side wheel assemblies 3-2 are installed on the inner side of the guide rail, and the four sets of adjustable side spring wheel assemblies 3-1 are installed on the outer side of the guide rail; the adjustable side spring wheel assemblies 3-1 can adjust the preload force according to the width of the guide rail to adapt to the guide rail error; The four sets of adjustable side spring wheel assemblies 3 - 1 and the two lower wheel assemblies 3 - 3 are installed on the lower frame, and the other two side wheel assemblies 3 - 2 are installed on the body frame 1 - 1 of the upper body assembly 1.

[0020] Example 6 like Figures 16-23 As shown, a method for operating a heavy-load rail-mounted unmanned vehicle comprises the following steps: S1: During initialization, it will intelligently detect whether the status of electrical equipment such as the travel switch and servo motors 1-7 is normal. If the status is abnormal, it will report a fault word, stop starting, and then wait for maintenance; S2: If the device is normal after the detection, it will start the return to origin action. To ensure the normal operation of the device function, during the initialization return to origin process, the unmanned vehicle is not controlled by the host computer. During the return to origin process, the unmanned vehicle determines whether the return to origin is completed by judging whether the origin travel switch is triggered. After the return to origin is completed, the unmanned vehicle stops and the current position value is cleared. This function greatly reduces the position error of the unmanned vehicle and effectively ensures the positioning accuracy of the unmanned vehicle; S3: After the unmanned vehicle completes initialization and returns to the origin, it will determine whether the limit data is correct. If not, the unmanned vehicle will issue a stop and slow down command. After rebinding the correct data, the unmanned vehicle can receive other motion control commands.

[0021] The operation method of the unmanned vehicle includes a speed operation mode and a position operation mode.

[0022] The position instruction operation issues an instruction according to data content limitation, and the issued position point does not exceed the soft limit. Based on the control requirement, the ladder deceleration function is adopted when the target point position is approached, so that the unmanned vehicle can be accurately parked at the specified position. The unmanned vehicle is designed as a speed limit section 10 meters before the soft limit, and the "deceleration parking" is completed before the soft limit. Then, the normal reverse control can be performed, so that the safety and reliability of the unmanned vehicle are ensured.

[0023] It can be understood that the present application is described through some embodiments, and those skilled in the art know that various changes or equivalent replacements can be made to the features and embodiments without departing from the spirit and scope of the present application. In addition, the features and embodiments can be modified to adapt to specific conditions and materials under the guidance of the present application without departing from the spirit and scope of the present application. Therefore, the present application is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of the present application are within the scope of the present application.

Claims

1. A heavy-load rail-type unmanned vehicle, characterized in that: The invention comprises an upper vehicle body assembly (1), a lower frame assembly (2), a limiting wheel assembly (3) and a shell assembly (4), wherein the upper vehicle body assembly (1) is mounted on the upper surface of the track, the lower frame assembly (2) is connected to the upper vehicle body assembly (1) by bolts, the lower frame assembly (2) is provided with a limiting wheel assembly (3) for clamping the guide rail, thereby preventing the unmanned vehicle from swaying left and right during its movement on the guide rail and causing derailment, and the upper vehicle body assembly (1) is provided with a shell assembly (4) for preventing rainwater from directly splashing onto the electrical equipment.

2. A heavy-load rail-type unmanned vehicle according to claim 1, characterized in that: The upper vehicle body assembly (1) comprises a vehicle body frame (1-1), a running wheel assembly (1-2), a synchronous wheel assembly (1-3), a shock absorbing column (1-4), a meter wheel (1-5), a device main mounting plate (1-6), a servo motor (1-7) and a servo motor controller (1-8); the vehicle body frame (1-1) is fixedly mounted on the device main mounting plate (1-6); shock absorbing columns (1-4) are mounted on both ends of the device main mounting plate (1-6); a servo motor (1-7) and a servo motor controller (1-8) for controlling the servo motor (1-7) are mounted on the device main mounting plate (1-6); a running wheel assembly (1-2) is rotatably mounted on the device main mounting plate (1-6); and the running wheel assembly (1-7) is rotatably mounted on the device main mounting plate (1-6). 1-2) is fixed by a traveling wheel axle and three traveling wheels in series, two sets of traveling wheel groups (1-2) are provided, the two sets of traveling wheel groups (1-2) and the servo motor (1-7) are connected and driven by a synchronous wheel group (1-3), the synchronous wheel group (1-3) is composed of an output pulley A, two driven pulleys A, a synchronous belt and a tensioning pulley, the output pulley A is installed on the output shaft of the servo motor (1-7), the driven pulley A is installed on the traveling wheel axle of the traveling wheel group (1-2), both ends of the main mounting plate (1-6) of the equipment are installed with travel switches, and the lower end of the main mounting plate (1-6) of the equipment is installed with a meter wheel (1-5) for counting, and the meter wheel (1-5) and the traveling wheel are in rolling contact with the upper surface of the track.

3. A heavy-load rail-type unmanned vehicle according to claim 2, characterized in that: The lower frame assembly (2) is a load hanger, and the load hanger is an "L"-shaped aluminum alloy structural member.

4. The heavy-duty rail-mounted unmanned vehicle according to claim 3, characterized in that: A fork assembly is installed on the load rack, a busbar is installed on the track, and a current collector for supplying power to the unmanned vehicle is installed on the fork assembly. During the movement of the unmanned vehicle, the fork assembly is used to move the current collector in the busbar to move synchronously with the unmanned vehicle.

5. The heavy-load rail-type unmanned vehicle according to claim 1, characterized in that: The housing assembly (4) is formed by bending and welding sheet metal.

6. The heavy-duty rail-mounted unmanned vehicle according to claim 1, characterized in that: The limiting wheel assembly (3) comprises an adjustable side spring wheel assembly (3-1), a side wheel assembly (3-2) and a lower wheel assembly (3-3); the adjustable side spring wheel assembly (3-1) comprises a mounting frame A (3-1-1), a T-shaped wheel A (3-1-2), a connecting plate A (3-1-3), an adjustment spring (3-1-4) and a limiting nut (3-1-5); the mounting frame A (3-1-4) is slidably mounted on the connecting plate A (3-1-3); 1-1), an adjustment spring (3-1-4) is installed between the mounting frame A (3-1-1) and the connecting plate A (3-1-3), a T-shaped wheel A (3-1-2) is rotatably installed on the mounting frame A (3-1-1), the connecting plate A (3-1-3) is fixedly installed on the lower frame assembly (2), and the mounting frame A (3-1-1) is threadedly connected to the limit nut (3-1-5) to adjust the preload force of the adjustment spring (3-1-4); The side wheel assembly (3-2) comprises a mounting seat B (3-2-1), a wheel axle B (3-2-2) and a T-shaped wheel B (3-2-3); the wheel axle B (3-2-2) is fixedly mounted on the mounting seat B (3-2-1); the T-shaped wheel B (3-2-3) is rotatably mounted on the wheel axle B (3-2-2); and the mounting seat B (3-2-1) is fixedly mounted on the lower frame assembly (2); The lower wheel assembly (3-3) comprises a wheel axle C (3-3-1) and a T-shaped wheel C (3-3-2), the T-shaped wheel C (3-3-2) being rotatably mounted on the wheel axle C (3-3-1), and the wheel axle C (3-3-1) being fixedly mounted on the lower frame assembly (2); The T-type wheel A (3-1-2), T-type wheel B (3-2-3) and T-type wheel C (3-3-2) are all "T"-shaped structures, with a wheel diameter of 55mm, a large diameter of 65mm, and a total thickness of 29mm; Four sets of the side wheel assemblies (3-2) are installed on the inner side of the guide rail, and four sets of the adjustable side spring wheel assemblies (3-1) are installed on the outer side of the guide rail; the adjustable side spring wheel assemblies (3-1) can be pre-tightened according to the width of the guide rail to adapt to the guide rail error; Four sets of the adjustable side spring wheel assemblies (3-1) and two lower wheel assemblies (3-3) are mounted on the lower frame, and the other two side wheel assemblies (3-2) are mounted on the body frame (1-1) of the upper body assembly (1).

7. A method for operating a heavy-duty rail-mounted unmanned vehicle, applicable to the heavy-duty rail-mounted unmanned vehicle according to any one of claims 1 to 6, characterized in that: The steps are: S1: During initialization, it will intelligently detect whether the status of electrical equipment such as travel switches and servo motors (1-7) is normal. If the status is abnormal, it will report a fault word, stop starting, and then wait for maintenance; S2: If the device is normal after the test, it will start the return to origin action (to ensure the normal operation of the device function, the unmanned vehicle is not controlled by the host computer during the initialization of the return to origin process). During the return to origin process, the unmanned vehicle determines whether the origin (travel switch) is triggered to determine whether the unmanned vehicle has returned to the origin. After returning to the origin, the unmanned vehicle stops and the current position value is reset to zero (this function greatly reduces the position error of the unmanned vehicle and effectively ensures the positioning accuracy of the unmanned vehicle); S3: After the unmanned vehicle completes initialization and returns to the origin, it will determine whether the limit data is correct. If not, the unmanned vehicle will issue a stop and slow down command. After rebinding the correct data, the unmanned vehicle can receive other motion control commands.

8. The method for operating a heavy-load rail-mounted unmanned vehicle according to claim 7, characterized in that: The operation method of the unmanned vehicle is divided into a speed operation mode and a position operation mode. The speed operation mode is to control the movement of the unmanned vehicle by receiving the speed mode switching instruction of the upper computer and changing the speed value of the unmanned vehicle. The position operation mode is to control the movement of the unmanned vehicle by setting the speed value and position value of the unmanned vehicle by receiving the position mode switching instruction of the upper computer. The speed operation mode requires manual control to stop the unmanned vehicle; the position operation mode does not require manual parking, only the position needs to be set in advance, the unmanned vehicle slows down in advance before reaching the specified position, and stops accurately after reaching the specified position.

9. The method for operating a heavy-load rail-mounted unmanned vehicle according to claim 8, characterized in that: During operation, the position command is issued based on data content constraints, ensuring that the issued position point does not exceed the soft limit. Based on control requirements, a stepped deceleration function is implemented when approaching the target point to ensure that the unmanned vehicle can accurately stop at the designated location. The unmanned vehicle is designed to have a speed limit 10 meters before the soft limit, and it completes the "deceleration stop" before the soft limit. After that, normal reverse control can be carried out, ensuring the safety and reliability of the unmanned vehicle.

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