The invention discloses a monorail robot walking device and a walking method. The walking device comprises a bottom frame, at least two walking wheels are arranged on the bottom frame, and each walking wheel is provided with a walking driving module and a steering driving module; the monorail robot walking device further comprises a control center and a position detection device; and the control center is connected with the position detection device, the walking driving modules and the steering driving modules, and the position detection device is used for detecting the position relation between the bottom frame and a monorail. The control center controls the walking driving modules and the steering driving modules to operate according to detection information of the position detection device so that the walking wheels can walk on the top face of the monorail. The control center controls the steering driving modules to properly steer so as to adjust the positions of the driving wheels,it is guaranteed that the driving wheels and the driven wheels can stably walk on the monorail, and the walking device is prevented from derailing.

    本发明公开了一种单轨道机器人行走装置及行走方法,该行走装置包括底架,底架上设有至少两个行走轮,行走轮配设有行走驱动模块和转向驱动模块;还包括控制中心和位置检测装置,控制中心分别与位置检测装置、行走驱动模块和转向驱动模块连接,位置检测装置用于检测底架与单轨道的位置关系,控制中心根据位置检测装置的检测信息控制行走驱动模块和转向驱动模块运行使行走轮保持在单轨道顶面上行走。本发明的控制中心控制转向驱动模块进行适度转向从而调整主动轮的位置,保证主动轮和从动轮能够在单轨道上稳定行走,防止行走装置脱轨。


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    Titel :

    Monorail robot walking device and walking method


    Weitere Titelangaben:

    一种单轨道机器人行走装置及行走方法


    Beteiligte:
    YANG TAO (Autor:in) / HENG XINGSHUN (Autor:in) / REN WENJIE (Autor:in) / CHEN GUANGYUN (Autor:in) / YANG HAIBO (Autor:in)

    Erscheinungsdatum :

    2020-12-18


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B61C Lokomotiven , LOCOMOTIVES / B61F Untergestelle für Schienenfahrzeuge, z.B. Fahrgestellrahmen, Drehgestelle oder Anordnungen der Radsätze , RAIL VEHICLE SUSPENSIONS, e.g. UNDERFRAMES, BOGIES OR ARRANGEMENTS OF WHEEL AXLES



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