Walking device for going up and down steps and crossing gaps

Abstract

The utility model provides a walking device for going up and down steps and crossing gaps. The walking device comprises a front driving wheel, a middle auxiliary wheel, a rear driving wheel, a frame and a guide mechanism. The front and rear driving wheels are fixedly connected to the front and rear sides of the bottom of the frame, guide mechanisms are mounted on the left and right sides of the frame, and the middle auxiliary wheels are slidably connected to the guide mechanisms; the front and rear driving wheels and the middle auxiliary wheel are arranged in bilateral symmetry relative to the frame; the front driving wheel, the middle auxiliary wheel and the rear driving wheel are configured to lift up and down in the vertical direction; the middle auxiliary wheel is further configured to reciprocate in the front-back direction of the frame along the guide mechanism. The middle auxiliary wheel of the walking device can move back and forth, so that the walking device can cross a gap or an obstacle in a wider range.

Description

Technical Field

[0001] This utility model relates to the field of logistics loading and unloading equipment technology, and in particular to a walking device for going up and down steps and crossing gaps. Background Technology

[0002] The shipping areas of logistics and express delivery companies, the finished product shipping areas of cigarette manufacturers, and the finished product shipping areas of dairy product companies all have similar features. Figure 1 The loading scenario shown is as follows: A telescopic conveyor 1 is installed inside workshop 3. A truck 5 is parked in front of platform 4 outside the workshop. When loading and shipping finished goods, the telescopic conveyor 1 is extended towards platform 4 into the truck bed of truck 5. Then, the finished goods conveyed by the telescopic conveyor 1 are manually stacked and loaded onto the truck. This loading scenario has the following problems:

[0003] 1) Manual loading and unloading required: Manual handling is required during the process of transferring goods from the platform to the cargo box of the truck, or during the process of unloading goods from the cargo box to the platform. This is especially true for vehicles with long cargo boxes, where the manual handling distance is long and when the goods are heavy, manual handling is time-consuming and labor-intensive.

[0004] 2) Differences in stopping gaps: The stopping gaps between the rear of the carriage and the platform vary depending on the driver's operation.

[0005] 3) Inconsistent height difference between the car floor and the platform: The height of the car floor from the ground varies between different models of vehicles, and the height of the workshop platform from the ground also varies between different companies. This results in the car floor being higher than the platform in some cases and lower than the platform in others, and the height difference is also different.

[0006] 4) Differences exist in the structure of the carriages: some carriages have, for example... Figure 1 The gooseneck steps shown are 6, and the height of the gooseneck steps is not the same. Some other carriages do not have gooseneck steps.

[0007] 5) Difficult to park: To maximize space utilization, enterprises generally install telescopic conveyors very close to the workshop roller shutter door. The space in front of the telescopic conveyor is insufficient to accommodate large-volume loading and unloading equipment. If equipment for automatic loading and unloading needs to be parked between the front of the telescopic conveyor and the front of the platform (the end that connects to the truck), the platform size needs to be lengthened, which wastes space and requires modification and lengthening of the existing workshop platform. The modification cost is high and it is not suitable for workshops that cannot lengthen the platform.

[0008] To address the aforementioned issues, patent document CN202310918771.8 discloses a walking device, a control system for the walking device, and a method thereof. This walking device has multiple sets of walking wheel mechanisms installed below a frame assembly. Each set of walking wheel mechanisms includes a steering wheel assembly and an auxiliary wheel assembly. By controlling the lifting and lowering combination of the steering wheel assembly and auxiliary wheel assembly of the walking wheel mechanisms installed at the front and rear of the walking device, the walking device can adaptively ascend and descend steps or cross obstacles. This patent can solve the aforementioned technical problems 1), 3), and 4). However, when the traveling device goes up or down steps or crosses ditches / gaps, in order to maintain the stability of the device's center of gravity, at least one steering wheel assembly or auxiliary wheel assembly from the front and rear wheel mechanisms must touch the ground each time. Due to the complex structure of the wheel mechanism, the positions of the steering wheel assembly and auxiliary wheel assembly in each wheel mechanism are relatively fixed. Therefore, when the width of the ditches / gaps to be crossed is greater than the distance between the steering wheel assembly and auxiliary wheel assembly in each wheel mechanism, when the front / rear wheel mechanism enters above the ditches / gaps to be crossed, the entire front / rear wheel mechanism will be suspended in the air, causing the traveling device to lose its center of gravity and resulting in a major safety accident of the device overturning. Obviously, this traveling device cannot solve the above-mentioned technical problem 2). In addition, this device also cannot solve the above-mentioned technical problem 5). Utility Model Content

[0009] In view of this, the present invention provides a walking device for going up and down steps and crossing gaps, which solves the problems in the prior art where automatic step-going devices cannot adaptively cross the gap between the platform and the vehicle, and are difficult to park, and where modifying the platform wastes space and is costly.

[0010] This disclosure provides a walking device for going up and down steps and crossing gaps, including a front drive wheel, an intermediate auxiliary wheel, a rear drive wheel, a frame, and a guide mechanism;

[0011] The front drive wheel and the rear drive wheel are fixedly connected to the front and rear sides of the bottom of the frame. Guide mechanisms are installed on the left and right sides of the frame. The middle auxiliary wheel is slidably connected to the guide mechanism. The front drive wheel, the middle auxiliary wheel, and the rear drive wheel are all arranged symmetrically with respect to the left and right sides of the frame.

[0012] The front drive wheel, the middle auxiliary wheel, and the rear drive wheel are configured to move up and down vertically.

[0013] The intermediate auxiliary wheel is also configured to reciprocate along the guide mechanism in the front-rear direction of the frame.

[0014] In some embodiments, the frame includes: a left frame, a right frame, and a crossbeam assembly;

[0015] The left and right frames are fixedly connected to the left and right sides of the crossbeam assembly, respectively, and the distance between the left and right frames is greater than the width of the telescopic conveyor. The bottom of the crossbeam assembly is higher than the top surface of the telescopic conveyor, forming a gantry structure that can straddle the telescopic conveyor.

[0016] In some embodiments, the front drive wheel and / or rear drive wheel includes a steering wheel that can drive the device to walk and steer.

[0017] In some embodiments, the front drive wheel, the middle auxiliary wheel, and the rear drive wheel move up and down via a gear and rack mechanism and / or a screw mechanism and / or a sprocket and chain mechanism.

[0018] In some embodiments, the walking device further includes three-dimensional lidar installed at the bottom of the front and rear ends of the frame.

[0019] The walking device for going up and down stairs and crossing gaps provided by this utility model has the following beneficial effects:

[0020] 1. By setting front and rear drive wheels to drive the entire device to move, and setting an intermediate auxiliary wheel between them, when it is necessary to go up or down steps / cross gaps, when the front or rear drive wheel is lifted off the ground, the intermediate auxiliary wheel can provide auxiliary support for the entire device. The extension and retraction of the wheel set can be used to go up or down steps and cross gaps.

[0021] 2. The height of the upper surface of the traveling device relative to the ground remains constant during the process of going up and down steps and crossing gaps. This facilitates the docking of other mechanisms installed on the traveling device with the telescopic conveyor for material retrieval and ensures smooth material feeding during the traveling process.

[0022] 3. The intermediate auxiliary wheel can move back and forth, allowing the traveling device to cross a wider range of gaps or obstacles without the driving wheel and auxiliary wheel at one end of the frame being suspended in the air at the same time; especially before the front driving wheel goes up or down a step / crosses a gap, it moves along the guide mechanism to the front side of the frame to get closer to the front driving wheel, and before the rear driving wheel goes up or down a step / crosses a gap, it moves along the guide mechanism to the rear side of the frame to get closer to the rear driving wheel, which can keep the center of gravity of the entire device stable and prevent the device from tipping over;

[0023] 4. The gantry frame structure design allows the traveling device to straddle the telescopic conveyor, enabling it to be stored within the workshop, reducing its encroachment on truck parking space and avoiding additional rain protection measures or modification costs. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram illustrating a scenario where the workshop's shipping area connects with external vehicles in existing technology.

[0026] Figure 2 A schematic diagram of the structure of a walking device for going up and down steps and crossing gaps, provided for an embodiment of this utility model;

[0027] Figure 3 This is a schematic diagram of the working scenario of the walking device provided in this disclosure;

[0028] Figure 4 This is a schematic diagram of the walking device of this utility model at different times when descending a step / crossing a gap;

[0029] Figure 5 A schematic diagram showing the different states of the walking device of this utility model when climbing stairs;

[0030] Figure label:

[0031] 1. Telescopic conveyor; 2. Traveling device; 3. Workshop; 4. Platform; 5. Freight car; 21. Front drive wheel; 22. Middle auxiliary wheel; 23. Rear drive wheel; 24. Frame; 25. Guiding mechanism; 241. Left frame; 242. Right frame; 243. Crossbeam assembly; A. First bottom surface; B. Second bottom surface; C. Third bottom surface. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. All other embodiments obtained by those skilled in the art based on the described embodiments of this utility model without creative effort are within the scope of protection of this utility model.

[0033] Unless otherwise defined, the technical or scientific terms used in this invention shall have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, the terms "an," "a," or "the" do not indicate a quantity limitation, but rather indicate the presence of at least one. The terms "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. The terms "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect.

[0034] It should be noted that the terms "upper", "lower", "left", "right", "front", and "back" used in this utility model are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0035] Figure 2 The diagram shown is a structural schematic of a walking device for ascending and descending steps and crossing gaps provided by this utility model. Figure 2 As shown, the walking device 2 consists of a front drive wheel 21, a middle auxiliary wheel 22, a rear drive wheel 23, a frame 24, and a guide mechanism 25. The front drive wheel 21 and the rear drive wheel 23 are fixedly connected to the front and rear sides of the bottom of the frame 24, respectively. The guide mechanism 25 is installed on the left and right sides of the frame 24, and the middle auxiliary wheel 22 is slidably connected to the guide mechanism 25. The front drive wheel 21, the middle auxiliary wheel 22, and the rear drive wheel 23 are all arranged symmetrically with respect to the frame 24. The front drive wheel 21, the middle auxiliary wheel 22, and the rear drive wheel 23 are configured to rise or fall vertically, and the middle auxiliary wheel 22 can also move along the guide mechanism 25 in the front-rear direction of the frame 24 (i.e., the guide direction of the guide mechanism 25 is along...). Figure 1 (As shown in the front-to-back direction), specifically, the intermediate auxiliary wheel 22 is also configured to: move along the guide mechanism 25 toward the front side of the frame 24 and approach the front drive wheel 21 before the front drive wheel 21 goes up or down the step / crosses the gap; and move along the guide mechanism 25 toward the rear side of the frame 24 and approach the rear drive wheel 23 before the rear drive wheel 23 goes up or down the step / crosses the gap.

[0036] In this embodiment of the invention, by setting front and rear drive wheels to drive the entire device, and setting an intermediate auxiliary wheel between them, when it is necessary to move up or down steps / cross gaps, the intermediate auxiliary wheel provides auxiliary support for the entire device when the front or rear drive wheel is lifted off the ground. This allows the other drive wheel, which is not lifted off the ground, to continue driving the entire device, thus enabling the lifted drive wheel to move up or down steps / cross gaps. In this way, the function of moving up or down steps and crossing gaps is achieved through the combination of the wheel set's vertical extension and retraction. This allows for perfect connection between the telescopic conveyor inside the workshop and the truck outside the platform, directly transporting the materials conveyed by the telescopic conveyor to the truck's cargo compartment. Furthermore, during the process of moving up or down steps / crossing gaps, the height of the upper surface of the walking device above the ground remains constant due to the auxiliary support of the intermediate auxiliary wheel. This facilitates the docking of other mechanisms installed on the walking device with the telescopic conveyor for material handling and ensures smooth material delivery during the movement. Specifically, this embodiment of the invention is provided with an intermediate auxiliary wheel that can move along the front and rear directions of the walking device. This allows for a significant adjustment of the distance between the intermediate auxiliary wheel and the front and rear driving wheels. Furthermore, as the front and rear driving wheels move forward, the intermediate auxiliary wheel and their distance can be dynamically adjusted. For example, when the front driving wheel is lifted and the walking device is driven forward by the rear driving wheel, the intermediate auxiliary wheel can remain stationary or its position can be slightly adjusted according to the center of gravity until the front driving wheel crosses a step or gap. This enables the walking device to traverse a wider range of gaps or obstacles without the driving wheel and auxiliary wheel at one end of the frame being suspended in the air simultaneously, thus solving the problems existing in the prior art.

[0037] Preferably, such as Figure 2 As shown, frame 24 includes a left frame 241, a right frame 242, and a crossbeam assembly 243. The left frame 241 and right frame 242 are fixedly connected to the left and right sides of the crossbeam assembly 243, respectively. The distance between the left frame 241 and right frame 242 is greater than the width of the telescopic conveyor 1. The bottom of the crossbeam assembly 243 is higher than the top surface of the telescopic conveyor 1. Figure 2 As shown, frame 24 is a gantry structure that can straddle the telescopic conveyor 1.

[0038] like Figure 3 The diagram shown is a schematic representation of the working scenario of the walking device provided in this disclosure. A telescopic conveyor 1 is installed inside workshop 3. The walking device 2 can straddle the telescopic conveyor 1. A workshop platform 4 is located at the front of workshop 3. A truck 5 is situated on the open ground in front of the workshop platform 4. A rain shelter is located above the workshop platform 4 for rain protection. Figure 3(Not shown in the text). The frame 24 is designed as a gantry structure, which allows the traveling device 2 to straddle the telescopic conveyor 1, thereby enabling the traveling device 2 to be stored in the workshop 3, reducing the encroachment on the truck parking space, making parking convenient, eliminating the need to expand or modify the platform 4, reducing the cost of platform modification, and avoiding the need to add other rain protection measures.

[0039] In some preferred embodiments, the beam assembly 243 is a telescopic structure with a length that can be extended or retracted along the left and right directions of the frame 24, thereby adapting to telescopic conveyors 1 of different widths and making the device highly versatile.

[0040] In some embodiments, the front drive wheel 21 and / or the rear drive wheel 23 include steering wheels that can drive the device to move and steer, such as vertical steering wheels, horizontal steering wheels, etc., which will not be described in detail here.

[0041] In some embodiments, the front drive wheel 21, the middle auxiliary wheel 22, and the rear drive wheel 23 move up and down via a gear and rack mechanism and / or a lead screw mechanism and / or a sprocket and chain mechanism, which will not be described in detail here.

[0042] In some embodiments, the walking device further includes a three-dimensional LiDAR installed at the bottom of the front and rear ends of the frame 24, used to detect whether there are steps and / or gaps in front of and behind the frame 24 during the walking process of the walking device. When steps and / or gaps are detected, data such as the height of the step, the width of the gap, the distance between the step and / or gap and the frame 24, and whether the step is an upward or downward step are obtained based on the detected three-dimensional point cloud data, so as to facilitate the subsequent walking control of the walking device of this disclosure for going up and down steps and crossing gaps.

[0043] The following describes in detail the walking control method of the walking device provided in this embodiment of the present invention. This method, when the walking device needs to walk normally on the first bottom surface, includes the following steps:

[0044] S10: Control the front drive wheel (21) and the rear drive wheel (23) to support themselves on the first bottom surface and drive the walking device at a first speed. V 1. When walking, the middle auxiliary wheel (22) is suspended off the ground and does not participate in the support.

[0045] Figure 4 The diagram shows the walking device of this invention at different times when it is descending a step or crossing a gap. Figure 4 The state shown in section ① is the state in which the walking device moves normally as described in S10 before encountering a downward target step / target gap.

[0046] The walking control method provided in this embodiment of the utility model further includes a step of real-time detection of whether there are uphill steps, downhill steps, or gaps on the ground in front of the walking device in the walking direction, combined with... Figure 4When a target step / gap is detected on the ground in front of the walking device in the direction of travel (e.g., ...), Figure 4 When considering the elevation difference and clearance between platform 4 and freight car 5 as shown, perform the following steps S11-S17:

[0047] S11: When a target step / or target gap is detected in front of the front drive wheel 21, the walking device is controlled to decelerate, and the walking device decelerates to a second speed when the front end of the walking device is a first distance away from the front edge of the target step / target gap. V 2 ( V 1> V 2).

[0048] Preferably, the total length of the frame 24 is less than 2 meters, and the first distance is 2 meters. For example: assuming the current distance between the front end of the walking device and the leading edge of the target step / target gap is 4 meters, when the target step / target gap is detected, the control system will adjust the current distance, the first distance, and the current speed accordingly. V 1. It can be calculated that the walking device needs to be decelerated to a speed within the length of "current distance - first distance". V 2. The required deceleration is determined, and the walking device is controlled to decelerate based on the calculated deceleration.

[0049] S12: Control the walking device to the second speed V 2. Continue moving a first distance in the direction of the target step / target gap, while simultaneously controlling the intermediate auxiliary wheel 22 to move along the guide mechanism 25 at a third speed. V 3 ( V 3> V 2) Move forward towards the front drive wheel 21 until the intermediate auxiliary wheel 22 is a second distance away from the front drive wheel 21, then stop moving the intermediate auxiliary wheel 22; then, when the walking device has traveled the first distance and reached the leading edge of the target step / target gap, lower the intermediate auxiliary wheel 22 vertically to support it on the first bottom surface A, as shown. Figure 4 As shown in state ②.

[0050] In this step, the movement time of the intermediate auxiliary wheel 22 needs to be shorter than the time required for the walking device to travel the first distance, so as to ensure that the intermediate auxiliary wheel 22 can reach the designated position in advance and extend downward to prepare for support. Therefore, preferably, the first distance is greater than the total front-to-back length of the frame 24, and V 3> V2. The value of the second distance can be determined by adding a first preset safety margin (related to the wheel diameters of the front drive wheel 21 and the intermediate auxiliary wheel 22) to the target gap width (the dimension of the target gap along the walking direction of the walking device). It can adapt to different gap widths by adjusting the wheel spacing between the intermediate auxiliary wheel 22 and the front drive wheel 21. When it is necessary to cross the target and descend the step, the second distance shall not be less than the sum of the wheel diameters of the front drive wheel 21 and the intermediate auxiliary wheel 22.

[0051] S13: Switching to the intermediate auxiliary wheel 22 and the rear active wheel 23 supporting the first bottom surface A, the walking device is driven by the rear active wheel 23 at the second speed. V 2. Continue moving forward (during this process, the front drive wheel 21 is continuously moved forward by the frame 24). After the third distance, lower the front drive wheel 21 vertically to support it on the second bottom surface B, as shown. Figure 4 As shown in state ③.

[0052] Wherein, the second bottom surface B is either the lower step surface of the target step that is lower than the first bottom surface A in front of the first bottom surface A, or another bottom surface that has a target gap between the first bottom surface A and the first bottom surface A. When it is necessary to cross the target step, the third distance is greater than the projection size of the front drive wheel 21 on the ground in the front-rear direction. When it is necessary to cross the target gap, the third distance is greater than the sum of the width of the target gap and the projection size of the front drive wheel 21 on the ground in the front-rear direction, so as to ensure that the front drive wheel 21 completely crosses the target step / crosses the target gap.

[0053] S14: Switch to the front drive wheel 21 supported on the second bottom surface B and the rear drive wheel 23 supported on the first bottom surface A, driving the walking device at the second speed. V 2. Continue moving forward, while simultaneously controlling the middle auxiliary wheel 22 to retract vertically and lift off the ground, then move at the third speed. V 3. Move backward toward the rear drive wheel 23 until the middle auxiliary wheel 22 is four distances away from the rear drive wheel 23, then stop moving the middle auxiliary wheel 22.

[0054] Specifically, when it is necessary to cross the target gap, the value of the fourth distance can be determined by adding the second preset safety margin (related to the wheel diameter of the middle auxiliary wheel 22 and the rear active wheel 23) to the target gap width. When it is necessary to cross the target down a step, the fourth distance is greater than the sum of the wheel diameters of the middle auxiliary wheel 22 and the rear active wheel 23.

[0055] S15: When the intermediate auxiliary wheel 22 is projected downwards onto the second bottom surface B, lower the intermediate auxiliary wheel 22 vertically so that it is supported on the second bottom surface B. Figure 4 As shown in state ④.

[0056] One approach is to install a photoelectric sensor on the intermediate auxiliary wheel 22 to detect whether the downward projection of the intermediate auxiliary wheel 22 is located on the second bottom surface B. Alternatively, the walking device in S14 can be controlled at a second speed. V 2. The distance the device continues to travel forward is controlled by the downward projection of the intermediate auxiliary wheel 22 onto the second bottom surface B. For example, assuming the walking device travels from... Figure 4 In state ③, the front drive wheel 21 continues to travel forward a distance while supported at the rear edge of the target step / target gap. L After step 1, the intermediate auxiliary wheel 22 of the walking device just reaches... Figure 4 At the position shown in state ④ (the rear edge of the target clearance), assuming the wheel spacing between the front drive wheel 21 and the rear drive wheel 23 in the front-rear direction is... L 2, the fourth distance is L 3, then L 1. L 2. L The following relationship exists between 3: L 1= L 2 - L 3, that is: in S14, it is only necessary to drive the walking device at the second speed. V 2. Continue walking forward ( L 2 - L 3) The distance is sufficient to ensure that the middle auxiliary wheel 22 just passes the target gap, and the downward projection of the middle auxiliary wheel 22 is located on the second bottom surface B. The control of the walking distance when going down the steps is even simpler, and will not be described in detail here.

[0057] S16: Switch to the front drive wheel 21 and the intermediate auxiliary wheel 22 supported on the second bottom surface B, and drive the walking device at the second speed via the front drive wheel 21. V 2. Continue moving forward until the rear drive wheel 23 crosses the target step / target gap, as follows: Figure 4 As shown in state ⑤, after being lowered vertically, the drive wheel 23 supports it on the second bottom surface B.

[0058] For example, suppose that the intermediate auxiliary wheel 22 of the walking device in S15 just reaches Figure 4 When in the position shown in state ④, the intermediate auxiliary wheel 22 is lowered vertically to support it on the second bottom surface B. Then, in S16, the driving device moves at the second speed. V 2. After continuing to move forward a distance of not less than the fourth distance, it can be ensured that the rear drive wheel 23 has crossed the target step / target gap. Alternatively, a photoelectric sensor can be installed on the rear drive wheel 23 to detect whether the downward projection of the rear drive wheel 23 is located on the second bottom surface B to determine whether the rear drive wheel 23 has crossed the target step / target gap. This will not be elaborated here.

[0059] S17: Control the intermediate auxiliary wheel 22 to retract vertically off the ground, switching to control the front drive wheel 21 and rear drive wheel 23 to support themselves on the second bottom surface B, as shown. Figure 4 As shown in state ⑥, the driving device continues to move forward, thus completing one step down / crossing of the gap.

[0060] It is worth noting that after completing a step down / crossing a gap, if a longer distance needs to be traveled, the walking device can be accelerated to continue walking, thereby improving its work efficiency.

[0061] Figure 5 The diagram shows the walking device of this invention in different states when climbing stairs, combined with... Figure 5 When a step is detected on the ground in front of the walking device in the direction of travel, the following steps S21-S27 are executed:

[0062] S21: Control the walking device to decelerate, so that when the front end of the walking device is a first distance away from the front edge of the target step, the walking device decelerates to a second speed. V 2 ( V 1> V 2).

[0063] Preferably, the first distance is 2 meters. Similar to S11, for example: assuming the current distance between the front end of the walking device and the leading edge of the target step is 4 meters, when the target step is detected, the control system determines the distance based on the current distance, the first distance, and the current speed. V 1. It can be calculated that the walking device needs to be decelerated to a speed within the length of "current distance - first distance". V 2. The required deceleration is determined, and the walking device is controlled to decelerate based on the calculated deceleration.

[0064] S22: Control the walking device to a second speed V 2. Continue walking the first distance in the direction of the target step, while simultaneously controlling the middle auxiliary wheel 22 to move along the guide mechanism 25 at a third speed. V 3 ( V 3> V 2) Move forward towards the front drive wheel 21 until the intermediate auxiliary wheel 22 is a second distance away from the front drive wheel 21, then stop moving the intermediate auxiliary wheel 22; then, when the walking device has traveled the first distance and reached the front edge of the target step, lower the intermediate auxiliary wheel 22 vertically to support it on the first bottom surface A, as shown. Figure 5 medium state a As shown.

[0065] In this embodiment, the specific implementation method of step S22 is similar to that of step S12 described above, and will not be repeated here.

[0066] S23: After controlling the front drive wheel 21 to retract to the first height in the vertical direction, the system switches to the middle auxiliary wheel 22 and the rear drive wheel 23 supporting the first bottom surface A, and drives the walking device at the second speed via the rear drive wheel 23. V 2. Continue moving forward a third distance (during which the front drive wheel 21 is carried forward by the frame 24 in a suspended state), then lower the front drive wheel 21 vertically to support it on the third bottom surface C, as shown. Figure 5 medium state b As shown.

[0067] The first height is greater than the height of the target step; the third distance is greater than the projection size of the front drive wheel 21 on the ground in the front-rear direction, ensuring that after the walking device travels the third distance forward, the downward projection of the front drive wheel 21 is located on the third bottom surface C; the third bottom surface C is the upper surface of the target step in front of the first bottom surface A, which is higher than the first bottom surface A. Alternatively, a photoelectric sensor can be installed on the front drive wheel 21 to detect in real time whether the downward projection of the front drive wheel 21 is located on the third bottom surface C, thereby controlling the walking device to travel the third distance forward.

[0068] S24: Switch to the front drive wheel 21 supported on the third bottom surface C and the rear drive wheel 23 supported on the first bottom surface A, driving the walking device at the second speed. V 2. Continue moving forward, while simultaneously controlling the middle auxiliary wheel 22 to retract to the first height vertically, then move at the third speed. V 3. Move backward toward the rear drive wheel 23 until the middle auxiliary wheel 22 is four distances away from the rear drive wheel 23, then stop moving the middle auxiliary wheel 22.

[0069] Among them, the fourth distance is greater than the sum of the diameter of the intermediate auxiliary wheel 22 and the diameter of the rear driving wheel 23.

[0070] S25: When the intermediate auxiliary wheel 22 is projected downwards onto the third bottom surface C, lower the intermediate auxiliary wheel 22 vertically so that it is supported on the third bottom surface C, as shown. Figure 5 medium state c As shown.

[0071] In this embodiment, a photoelectric sensor can be installed on the intermediate auxiliary wheel 22 to detect whether the downward projection of the intermediate auxiliary wheel 22 is located on the third bottom surface C. Alternatively, the walking device can be driven at a second speed. V 2. Continue walking forward for no less than ( L 2 - L 3) The distance is sufficient to ensure that the downward projection of the intermediate auxiliary wheel 22 is located on the third bottom surface C, where, L 2 represents the wheel spacing between the front drive wheel 21 and the rear drive wheel 23 in the longitudinal direction. L3 represents the fourth distance.

[0072] S26: Switch to the front drive wheel 21 and the middle auxiliary wheel 22 supported on the third bottom surface C, and control the rear drive wheel 23 to retract to the first height in the vertical direction, as follows: Figure 5 medium state d As shown, the walking device is driven by the front drive wheel 21 at a second speed. V 2. Continue to move forward (during this process, the rear drive wheel 23 is carried forward by the frame 24 in a suspended state) until the rear drive wheel 23 is projected downwards onto the third bottom surface C, then lower the rear drive wheel 23 vertically to support it on the third bottom surface C.

[0073] For example, suppose that the intermediate auxiliary wheel 22 of the walking device in S25 just reaches Figure 5 medium state c When the position shown is reached, the intermediate auxiliary wheel 22 is lowered vertically to support it on the third bottom surface C. Then, in S26, after the rear drive wheel 23 is raised, the walking device is driven at the second speed. V 2. After continuing to move forward a distance of not less than the fourth distance, it can be ensured that the rear drive wheel 23 has stepped onto the target step. Alternatively, a photoelectric sensor can be installed on the rear drive wheel 23 to detect whether the downward projection of the rear drive wheel 23 is located on the third bottom surface C to determine whether the rear drive wheel 23 has stepped onto the target step.

[0074] S27: Control the intermediate auxiliary wheel 22 to retract vertically off the ground, switching to control the front drive wheel 21 and rear drive wheel 23 to support on the third bottom surface C, as follows. Figure 5 medium state e As shown, the driving device continues to move forward, thus completing the process of climbing one step.

[0075] It is worth noting that after completing one ascent of the steps, if a longer distance needs to be walked, the walking device can be accelerated as needed to continue walking, thereby improving its work efficiency.

[0076] Based on the above description, the walking device and walking control method provided by this utility model have the following beneficial effects.

[0077] 1. By setting front and rear drive wheels to drive the entire device to move, and setting an intermediate auxiliary wheel between them, when it is necessary to go up or down steps / cross gaps, when the front or rear drive wheel is lifted off the ground, the intermediate auxiliary wheel can provide auxiliary support for the entire device. The extension and retraction of the wheel set can be used to go up or down steps and cross gaps.

[0078] 2. The height of the upper surface of the traveling device relative to the ground remains constant during the process of going up and down steps and crossing gaps. This facilitates the docking of other mechanisms installed on the traveling device with the telescopic conveyor for material retrieval and ensures smooth material feeding during the traveling process.

[0079] 3. The intermediate auxiliary wheel can move back and forth, which allows the traveling device to cross a wider range of gaps or obstacles, and prevents the driving wheel and auxiliary wheel at one end of the frame from being suspended in the air at the same time, while maintaining the stability of the center of gravity of the entire device.

[0080] 4. The gantry frame structure design allows the traveling device to straddle the telescopic conveyor, enabling it to be stored within the workshop, reducing its encroachment on truck parking space and avoiding additional rain protection measures or modification costs.

[0081] It should be noted that the process of the walking device 2 returning from the truck 5 to the workshop 3 is the reverse process of the above embodiment, and will not be described again here.

[0082] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.

Claims

1. A walking device for ascending and descending stairs and crossing gaps, characterized by, It includes a front drive wheel (21), a middle auxiliary wheel (22), a rear drive wheel (23), a frame (24), and a guide mechanism (25); The front drive wheel (21) and the rear drive wheel (23) are fixedly connected to the front and rear sides of the bottom of the frame (24). The left and right sides of the frame (24) are equipped with guide mechanisms (25). The middle auxiliary wheel (22) is slidably connected to the guide mechanism (25). The front drive wheel (21), the middle auxiliary wheel (22), and the rear drive wheel (23) are all arranged symmetrically with respect to the left and right sides of the frame (24). The front drive wheel (21), the middle auxiliary wheel (22), and the rear drive wheel (23) are configured to move up and down in the vertical direction; the middle auxiliary wheel (22) is also configured to reciprocate along the guide mechanism (25) in the front and rear direction of the frame (24).

2. The stair ascending and descending and gap crossing device according to claim 1, wherein The frame (24) includes: a left frame (241), a right frame (242), and a beam assembly (243). The left frame (241) and right frame (242) are fixedly connected to the left and right sides of the crossbeam assembly (243) respectively, and the distance between the left frame (241) and right frame (242) is greater than the width of the telescopic conveyor (1). The bottom of the crossbeam assembly (243) is higher than the top surface of the telescopic conveyor (1), forming a gantry structure that can straddle the telescopic conveyor (1).

3. The stair ascending and descending and gap crossing device according to claim 1, wherein The front drive wheel (21) and / or rear drive wheel (23) include steering wheels that drive the device to move and steer.

4. The stair ascending and descending and gap crossing device according to claim 1, wherein The front drive wheel (21), the middle auxiliary wheel (22), and the rear drive wheel (23) move up and down through a gear and rack mechanism and / or a screw mechanism and / or a sprocket and chain mechanism.

5. The stair ascending and descending and gap striding device according to claim 1, wherein The walking device also includes three-dimensional lidar installed at the bottom of the front and rear ends of the frame (24).

Images