Traveling device

Abstract

The utility model provides a walking device, and relates to the technical field of engineering machinery. The walking device comprises a walking track and a walking mechanism, the walking track is arranged in the walking direction, the walking mechanism is arranged on the walking track, and a to-be-moved object is installed on the side, away from the walking track, of the walking mechanism; the walking mechanism comprises a driver, a driving wheel and a walking driving unit of at least one walking wheel, the driving wheel is installed at the top of the walking track, and the output end of the driver is connected with the driving wheel; the two sides of the walking track are sunken to form fixing grooves, the length of the fixing grooves corresponds to the stroke length of the walking mechanism, and at least one part of the walking wheel is located in the fixing grooves. The walking device is good in adaptability and high in loading capacity, the to-be-moved object can be moved on the basis that it is guaranteed that the to-be-moved object does not topple over, operation is easy, consumed time is short, and the moving cost is effectively reduced.

Description

Technical Field

[0001] The present application relates to the technical field of engineering machinery, and more specifically, to a walking device. Background Art

[0002] When using large mechanical equipment, it is often necessary to apply it to a small or unstable environment (such as on a ship, at a dock, etc.). In these environments, in order to prevent the equipment from tipping over, it is necessary to pour concrete at the bottom or fix it with screws.

[0003] However, during the use of the equipment, the equipment may need to be moved due to work requirements and other factors. At this time, the concrete or screws at the bottom need to be removed, and large equipment needs to be called to assist in moving the equipment. This method is cumbersome, time-consuming and costly. Utility Model Content

[0004] The present application provides a walking device that can solve the problem that the existing large-scale mechanical equipment moving method is complicated, time-consuming and costly. To achieve this purpose, the present application provides the following solutions.

[0005] According to one aspect of an embodiment of the present application, there is provided a walking device, comprising: a walking track, a walking mechanism;

[0006] The walking track is arranged along the walking direction, the walking mechanism is arranged on the walking track, and the object to be moved is installed on a side of the walking mechanism away from the walking track;

[0007] The walking mechanism comprises a walking driving unit provided with a driver, a driving wheel and at least one walking wheel, wherein the driving wheel is mounted on the top of the walking track, and the output end of the driver is connected to the driving wheel;

[0008] Both sides of the walking track are recessed to form fixed grooves, the length of the fixed grooves corresponds to the stroke length of the walking mechanism, and at least a part of the walking wheel is located in the fixed grooves.

[0009] In a possible implementation, the travel drive unit further includes a reducer, and the reducer is respectively connected to the output end of the driver and the drive wheel to transmit the power of the driver to the drive wheel.

[0010] In a possible implementation, the walking mechanism further includes a walking chassis, both ends of the walking chassis are provided with a walking drive unit, and the walking drive units at both ends of the walking chassis are installed on different walking tracks.

[0011] In a possible implementation, a positioning device is further included, and the positioning device is installed on the walking chassis and is used to obtain positioning information of the walking mechanism.

[0012] In a possible implementation, the travel drive unit further includes a wheel frame, and the drive wheel is fixed inside the wheel frame;

[0013] A balancing frame is provided on the top of the wheel frame, and the balancing frame is connected to the walking chassis at a side away from the driving wheel.

[0014] In a possible implementation, the travel drive unit further includes a signal acquisition device, which is connected to the output end of the driver to acquire working parameters of the driver to generate working parameter signals, and the signal acquisition device includes an encoder.

[0015] In a possible implementation, the walking device further includes a control module, which is connected to the encoder and the driver respectively, and is used to control the driver to work synchronously after receiving a working parameter signal of a target encoder in the encoder.

[0016] In a possible implementation, the driving wheel includes a sprocket, a row of pins is provided on the top of the walking track, and the row of pins includes first pins arranged at equal intervals, and the interval between the first pins matches the tooth pitch of the sprocket.

[0017] In a possible implementation, limit switches are provided at both ends of the removal pin, and the limit switches are used to generate a limit signal after detecting the travel drive unit.

[0018] In a possible implementation, the row of pins further includes a first fixing member, which is arranged in parallel on both sides of the first pin shaft, and two ends of the first pin shaft are connected to different first fixing members;

[0019] The top height of the first fixing member is higher than the height of the first pin shaft.

[0020] The beneficial effects of the technical solution provided by the embodiment of the present application are:

[0021] The walking device provided in the present application is provided with a walking track and a walking mechanism, the walking track is arranged along the walking direction, the walking mechanism is arranged on the walking track, and the object to be moved is installed on the side of the walking mechanism away from the walking track; the walking mechanism includes a walking drive unit provided with a driver, a driving wheel and at least one walking wheel, the driving wheel is installed on the top of the walking track, and the output end of the driver is connected to the driving wheel; the two sides of the walking track are recessed to form a fixed groove, the length of the fixed groove corresponds to the stroke length of the walking mechanism, and at least a part of the walking wheel is located in the fixed groove. In the embodiment of the present application, the object to be moved is installed on the walking mechanism, and the walking mechanism on the walking track is used to drive the object to be moved to move, and the fixed grooves on both sides of the walking track and the walking wheels interact with each other to prevent the object to be moved from tipping over. Therefore, the walking device of the embodiment of the present application has good adaptability and high load-bearing capacity, and can move the object to be moved on the basis of ensuring that the object to be moved does not tip over. The operation is simple and time-saving, and the moving cost is effectively reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following is a brief introduction to the drawings required for use in describing the embodiments of the present application.

[0023] Figure 1 A side view of a walking device provided in an embodiment of the present application;

[0024] Figure 2 A structural diagram of a walking device provided in an embodiment of the present application;

[0025] Figure 3 A top view of a walking device provided in an embodiment of the present application;

[0026] Figure 4 A structural diagram of a walking drive unit provided in an embodiment of the present application;

[0027] Figure 5 A structural diagram of the walking track provided in an embodiment of the present application;

[0028] Figure 6 A side view of the walking track provided in an embodiment of the present application.

[0029] Description of reference numerals: 1, walking track; 11, row pin; 111, first pin shaft; 112, first fixing member; 12, fixing groove;

[0030] 21. Travel drive unit; 211. Driver; 212. Driving wheel; 213. Travel wheel; 214. Balancing frame;

[0031] 22. Walking chassis. DETAILED DESCRIPTION

[0032] The embodiments of the present application are described below in conjunction with the drawings in the present application. It should be understood that the implementation methods described below in conjunction with the drawings are exemplary descriptions for explaining the technical solutions of the embodiments of the present application and do not constitute a limitation on the technical solutions of the embodiments of the present application.

[0033] It will be understood by those skilled in the art that, unless specifically stated, the singular forms "one", "said", and "the" used herein may also include plural forms. It should be further understood that the terms "including" and "comprising" used in the embodiments of the present application refer to that the corresponding features can be implemented as the presented features, information, data, steps, operations, elements and / or components, but do not exclude the implementation of other features, information, data, steps, operations, elements, components and / or combinations thereof supported by the present technical field. It should be understood that when we say that an element is "connected" or "coupled" to another element, the one element may be directly connected or coupled to the other element, or it may refer to that the one element and the other element establish a connection relationship through an intermediate element. In addition, the "connection" or "coupling" used herein may include wireless connection or wireless coupling. The term "and / or" used herein indicates at least one of the items defined by the term, for example, "A and / or B" indicates that it is implemented as "A", or is implemented as "A", or is implemented as "A and B".

[0034] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below in conjunction with the accompanying drawings.

[0035] The following describes several exemplary embodiments to illustrate the technical solutions of the embodiments of the present application and the technical effects produced by the technical solutions of the present application. It should be noted that the following embodiments can refer to, draw on or combine with each other, and the same terms, similar features and similar implementation steps in different embodiments will not be described repeatedly.

[0036] The walking device provided in the present application is intended to solve at least one technical problem existing in the prior art.

[0037] In the embodiment of the present application, a walking device is provided, such as Figure 1-Figure 6As shown, the walking device includes: a walking track 1 and a walking mechanism. The walking track 1 is arranged along the walking direction. The walking mechanism is arranged on the walking track 1. The object to be moved is installed on the side of the walking mechanism away from the walking track 1. The walking mechanism includes a walking drive unit 21 provided with a driver 211, a driving wheel 212 and at least one walking wheel 213. The driving wheel 212 is installed on the top of the walking track 1. The movement of the walking mechanism on the walking track 1 is realized by the rotation of the driving wheel 212. The output end of the driver 211 is connected to the driving wheel 212. The two sides of the walking track 1 are recessed to form a fixed groove 12. The length of the fixed groove 12 corresponds to the stroke length of the walking mechanism. At least a part of the walking wheel 213 is located in the fixed groove 12. The way in which the walking mechanism moves on the walking track 1 can stably control the moving speed and maintain smooth movement, can meet the movement requirements of various equipment, has good adaptability, and effectively improves the load-bearing capacity of the walking device.

[0038] Optionally, the object to be moved may be a crane or other equipment that does not have the ability to walk. The walking direction may be determined according to the working requirements of the equipment, the construction environment, and other conditions related to the movement of the object to be moved.

[0039] Optionally, a positioning device is also included, which is installed on the walking mechanism and is used to collect positioning information of the walking mechanism.

[0040] In one embodiment, the driver 211 may be a driving motor, and there may be multiple driving motors, which work synchronously to drive the walking mechanism to move stably. To achieve underwater movement, the driver 211 may also be a hydraulic motor that can work underwater.

[0041] Optionally, the traveling mechanism further includes a traveling chassis 22 , and traveling drive units 21 are provided at both ends of the traveling chassis 22 , and the traveling drive units 21 at both ends of the traveling chassis 22 are installed on different traveling tracks 1 .

[0042] Optionally, the walking track 1 includes a first track and a second track arranged in parallel, and the two ends of the walking chassis 22 are respectively located on the first track and the second track, and the two ends of the walking chassis 22 move synchronously along the first track and the second track. The first track and the second track are arranged along the walking direction to ensure that the rock drilling equipment moves along the walking direction.

[0043] In one embodiment, the structures of the first track and the second track may be the same, and may be an “I” shaped structure.

[0044] Optionally, the driving wheel 212 can be a sprocket, and a row of pins 11 matching the sprocket is provided on the top of the walking track 1, and the row of pins 11 includes first pins 111 arranged at equal intervals, and the spacing of the first pins 111 matches the tooth pitch of the sprocket. The cooperation between the row of pins 11 and the sprocket provides the travel drive unit 21 with the force required to move on the walking track 1.

[0045] Optionally, the row pin 11 further includes a first fixing member 112 , which is arranged in parallel on both sides of the first pin shaft 111 , and both ends of the first pin shaft 111 are connected to different first fixing members 112 ; the top height of the first fixing member 112 is higher than the height of the first pin shaft 111 .

[0046] In one embodiment, a through hole corresponding to the first pin shaft 111 is provided on the side of the first fixing member 112, and both ends of the first pin shaft 111 are fixed in the through hole. In addition, in order to improve the stability of the first fixing member 112, a slanted plate is also provided on the side of the first fixing member 112 away from the first pin shaft 111, and the slanted plate is vertically fixed to the side of the first fixing member 112 away from the first pin shaft 111 and the top of the walking track 1. There are multiple slanted plates, and they are arranged at intervals on the side of the first fixing member 112.

[0047] Optionally, limit switches are provided at both ends of the pin 11, and the limit switches are used to generate limit signals after detecting the travel drive unit 21. The setting position of the limit switch corresponds to the travel of the travel mechanism on the travel track 1.

[0048] Optionally, a positioning device is provided on the traveling chassis 22, and the positioning device is used to realize real-time detection of the current position of the rock drilling equipment.

[0049] Optionally, the walking device further includes a control module, which is connected to the walking drive unit 21. The detection result of the positioning device can be transmitted to the control module corresponding to the walking drive unit 21, and the control module controls the moving direction, moving speed and moving trajectory of the rock drilling equipment based on the detection result. Among them, the control module can be a host computer connected to the walking device or a control device set on the walking chassis 22. In addition, the control module can also receive a limit signal generated by a limit switch, and control the driver 211 of the walking drive unit 21 to stop working or change the direction of movement based on the limit signal.

[0050] Optionally, the number of the positioning devices may be two or three. When the number of the positioning devices is three, one of the positioning devices is arranged outside the traveling chassis 22 , and the other two are arranged on the traveling chassis 22 .

[0051] In one embodiment, the positioning device may be a RTK (Real-time kinematic) device, and the number of the positioning device is two, wherein the connection line of the two positioning devices may be perpendicular to the travel track 1 .

[0052] In one embodiment, the annular surface of the running wheel 213 is opposite to the side of the fixing groove 12, and the whole of the running wheel 213 is located in the fixing groove 12. Wherein, grooves may be provided on both sides of the second track and the first track, and a running wheel 213 is provided in each groove.

[0053] Optionally, in order to transmit the power of the driver 211, the travel drive unit 21 also includes a reducer, which is respectively connected to the output end of the driver 211 and the drive wheel 212 to transmit the power of the driver 211 to the drive wheel 212. Through the action of the reducer, the rotation speed of the drive wheel 212 is inconsistent with the rotation speed of the driver 211, so that the rotation speed of the drive wheel 212 corresponds to the movement speed of the travel mechanism.

[0054] Optionally, the travel drive unit 21 further includes a wheel frame, a driving wheel 212 is fixed inside the wheel frame, a balancing frame 214 is provided on the top of the wheel frame, and the balancing frame 214 is connected to the travel chassis 22 away from the driving wheel 212. The driver 211 is arranged on one side of the wheel frame, and the reducer is arranged inside the wheel frame and connected to the output ends of the driving wheel 212 and the driver 211 respectively.

[0055] In one embodiment, there are two walking wheels 213, and a connecting shaft and a card plate are also provided at the bottom of the wheel frame. The card plate is arranged on the side of the walking wheel 213 away from the fixed groove 12, and the rotating shaft of the walking wheel 213 is fixed on the card plate. The connecting shaft is arranged at the top of the walking track 1, and the two ends are connected to different card plates.

[0056] Optionally, two travel drive units 21 are provided at each end of the walking chassis 22, and the drivers 211 of the travel drive units 21 are arranged on both sides of the ends of the walking chassis 22. In addition, in order to realize synchronous control of the driver 211, the walking drive unit 21 also includes a signal acquisition device, which is connected to the output end of the driver 211 to collect working parameters of the driver 211, wherein the signal device collects the working parameters of the driver 211 to generate a working parameter signal, and transmits the working parameter signal to the control module corresponding to the driver 211. After receiving the working parameter signal, the control module controls the driver 211 to work synchronously according to the working parameter, so as to realize synchronous movement of the two ends of the walking chassis 22.

[0057] In one embodiment, the driver 211 may be a driving motor, and the signal acquisition device may include an encoder. The encoder is arranged at the output end of the driver 211, and collects the rotation speed, operating frequency and other data that can be used to detect whether the driver 211 is working synchronously. After receiving the working parameter signal of the encoder, the control module detects whether the working parameter signals transmitted by other encoders are consistent based on the working parameter signal of one of the encoders as a reference object, and when it is determined that they are inconsistent, the driver 211 corresponding to the inconsistent encoder is adjusted according to the working parameter signal of the reference object, so that the driver 211 in the walking drive unit 21 works synchronously, thereby improving the synchronous control accuracy of the walking drive unit 21.

[0058] The terms "first", "second", "third", "fourth", "1", "2", etc. (if any) in the specification and claims of this application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than that shown or described in the drawings.

[0059] It should be understood that, although each operation step is indicated by arrows in the flowchart of the embodiment of the present application, the implementation order of these steps is not limited to the order indicated by the arrows. Unless clearly stated herein, in some implementation scenarios of the embodiment of the present application, the implementation steps in each flowchart can be performed in other orders according to demand. In addition, some or all of the steps in each flowchart may include multiple sub-steps or multiple stages based on actual implementation scenarios. Some or all of these sub-steps or stages may be executed at the same time, and each sub-step or stage in these sub-steps or stages may also be executed at different times respectively. In different scenarios of execution time, the execution order of these sub-steps or stages may be flexibly configured according to demand, and the embodiment of the present application does not limit this.

[0060] The above is only an optional implementation method for some implementation scenarios of the present application. It should be pointed out that for ordinary technicians in this technical field, without departing from the technical concept of the solution of the present application, other similar implementation methods based on the technical ideas of the present application are also within the protection scope of the embodiments of the present application.

Claims

1. A walking device, characterized in that: include: Walking track and walking mechanism; The walking track is arranged along the walking direction, the walking mechanism is arranged on the walking track, and the object to be moved is installed on the side of the walking mechanism away from the walking track; The walking mechanism comprises a walking driving unit provided with a driver, a driving wheel and at least one walking wheel, wherein the driving wheel is mounted on the top of the walking track, and the output end of the driver is connected to the driving wheel; Both sides of the walking track are recessed to form fixed grooves, the length of the fixed grooves corresponds to the stroke length of the walking mechanism, and at least a part of the walking wheel is located in the fixed grooves.

2. The walking device according to claim 1, characterized in that: The travel drive unit further includes a reducer, which is respectively connected to the output end of the driver and the drive wheel to transmit the power of the driver to the drive wheel.

3. The walking device according to claim 1, characterized in that: The walking mechanism further comprises a walking chassis, and both ends of the walking chassis are provided with walking drive units, and the walking drive units at both ends of the walking chassis are installed on different walking tracks.

4. The walking device according to claim 3, characterized in that: It also includes a positioning device, which is installed on the walking chassis and is used to obtain positioning information of the walking mechanism.

5. The walking device according to claim 3, characterized in that: The travel drive unit also includes a wheel frame, and the drive wheel is fixed inside the wheel frame; A balancing frame is provided on the top of the wheel frame, and the balancing frame is connected to the walking chassis at a side away from the driving wheel.

6. The walking device according to claim 1, characterized in that: The travel drive unit further includes a signal acquisition device, which is connected to the output end of the driver to acquire working parameters of the driver to generate working parameter signals, and the signal acquisition device includes an encoder.

7. The walking device according to claim 6, characterized in that: The walking device also includes a control module, which is connected to the encoder and the driver respectively, and is used to control the driver to work synchronously after receiving the working parameter signal of the target encoder in the encoder.

8. The walking device according to claim 1, characterized in that: The driving wheel comprises a sprocket, a row of pins is arranged on the top of the walking track, and the row of pins comprises first pin shafts arranged at equal intervals, and the interval between the first pin shafts matches the tooth pitch of the sprocket.

9. The walking device according to claim 8, characterized in that: Limit switches are provided at both ends of the removal pin, and the limit switches are used to generate limit signals after detecting the travel drive unit.

10. The walking device according to claim 8, characterized in that: The row of pins also includes a first fixing member, which is arranged in parallel on both sides of the first pin shaft, and both ends of the first pin shaft are connected to different first fixing members; The top height of the first fixing member is higher than the height of the first pin shaft.

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