Self-propelled steel bar binding robot moving chassis and method

Abstract

The invention belongs to the technical field of building robots, and particularly discloses a self-propelled reinforcing steel bar binding robot moving chassis and method, the moving chassis comprises a cross-layer inverted-T-shaped rack assembly, an environment sensing and automatic control assembly is arranged at the top end of the cross-layer inverted-T-shaped rack assembly, and a step-by-step lifting transverse propelling assembly is arranged at the bottom end of the cross-layer inverted-T-shaped rack assembly; self-adaptive high-position longitudinal moving assemblies connected with the cross-layer inverted-T-shaped rack assembly are arranged on the two sides of the environment sensing and automatic control assembly at intervals. Two pairs of driven double-hub wheel assemblies connected with the cross-layer inverted-T-shaped rack assembly are arranged on the two sides of the step-by-step lifting transverse propelling assembly in a clearance mode. The mobile chassis of the self-propelled reinforcing steel bar binding robot can automatically and stably walk on complex reinforcing steel bar mesh surfaces with different sizes and specifications, so that the construction efficiency of reinforcing steel bar binding operation is greatly improved, and the construction period is remarkably shortened.

Description

Technical Field

[0001] The invention belongs to the technical field of construction robots, and in particular relates to a mobile chassis of a self-propelled steel bar binding robot and a method. Background Art

[0002] At present, the steel bar bundling work in the construction field mainly relies on manual work, which has problems such as high labor intensity, time-consuming and labor-intensive, low efficiency, and has high requirements on the workers' skill level; at this stage, most construction sites use manual handheld steel bar bundling guns, and workers need to aim the gun at the bundling node and press the button to complete the bundling operation; compared with the traditional manual bundling method, this method has improved the efficiency of steel bar bundling, but workers still need to bend and squat frequently during operation; in large-scale construction projects, workers need to squat up to 270,000 times on average to complete a bundling task, which is very labor-intensive and poses a potential threat to the workers' health.

[0003] In addition, the construction site environment is harsh and the safety risks are high. Accidents frequently occur in the construction industry every year. For large-scale construction projects, a large number of workers need to be hired to complete the steel bar bundling work, resulting in high labor costs. Based on the above problems, in order to reduce labor costs, reduce the physical injuries caused by steel bar bundling, and improve work efficiency, it is particularly necessary to develop a robot system that can replace manual steel bar bundling.

[0004] However, due to the complex steel mesh environment with uneven height and different spacing between steel bars, it is difficult for the steel tying robot to walk autonomously and stably on different steel mesh environments, and it is difficult to achieve precise movement on the steel mesh. The "self-propelled steel tying robot" with application number CN115087785B moves on the steel mesh through a crawler chassis to support all-round automatic steel tying. However, due to the heavy weight of the crawler chassis, the limitations of the steel bar nodes and specifications may cause large deformation of the steel mesh. At the same time, the movement of the crawler on the steel bars may easily cause positioning errors of the vehicle body or even overturning, and the movement stability is insufficient, affecting the tying efficiency. In addition, the "a steel mesh tying robot" with application number CNCN212606006U achieves front and rear, left and right movement on the steel mesh through a front and rear walking mechanism, a left and right transmission mechanism, and a left and right walking mechanism. However, its left and right connecting rod transmission mechanism causes imbalance of the vehicle body on both sides during movement, with large errors, and the long-distance connecting rods are in This results in insufficient single step distance during movement, which limits the movement efficiency. At the same time, this design is prone to position errors in steel bar position detection, resulting in low binding accuracy. Another solution is the "A wheel-legged steel bar binding robot mobile chassis" with application number CN116771129A, which integrates the roller mechanism with the leg mechanism and designs multiple driven wheels to facilitate movement, reversing and lateral shifting, thereby improving maneuverability and operational flexibility. However, the adjustment of multiple driven wheels in this structure increases the complexity of operation, and the coupling problem of the double legs is prone to change in a complex working environment, affecting the stability of the system. Summary of the invention

[0005] In order to solve the above technical problems, the present invention provides a mobile chassis and method for a self-propelled steel bar binding robot that can autonomously and stably walk in a complex steel bar mesh environment and can achieve precise movement.

[0006] Based on the above purpose, the present invention is achieved through the following technical solutions: A mobile chassis of a self-propelled steel bar binding robot comprises a cross-layer convex-shaped frame assembly, wherein an environment sensing and automatic control assembly is arranged at the top of the cross-layer convex-shaped frame assembly, and a step-by-step lifting and lateral propulsion assembly is arranged at the bottom; an adaptive high-position longitudinal movement assembly connected to the cross-layer convex-shaped frame assembly is arranged at a gap on both sides of the environment sensing and automatic control assembly; a pair of driven double-hub wheel assemblies connected to the cross-layer convex-shaped frame assembly is arranged at a gap on both sides of the step-by-step lifting and lateral propulsion assembly.

[0007] Preferably, the cross-layer convex-shaped frame assembly includes a ∩-shaped base plate, the bottom ends of the left and right sides of the base plate are respectively connected to a left fixed plate and a right fixed plate, the other side of the base plate is provided with a front fixed plate connected to the left fixed plate, the right fixed plate and the base plate, and the base plate is provided with a shell connected to the left fixed plate, the right fixed plate and the front fixed plate; the base plate serves as the main body of the mobile chassis of the steel bar tying robot, and undertakes the installation and positioning functions of the step-by-step lifting and lateral propulsion assembly and the environmental perception and automatic control assembly; the left fixed plate and the right fixed plate are respectively located on both sides of the base plate, and are fixed to the base plate by screws; in addition to serving as a frame protection, the front fixed plate also undertakes the fixing function of the laser radar and the fill light.

[0008] Preferably, the adaptive high-position longitudinal movement component includes a suspension support respectively arranged on the left fixed plate and the right fixed plate, the suspension support is connected to the motor bracket through a suspension mechanism, a gear support plate is provided on one side of the motor bracket, an upper gear is provided on the side of the gear support plate away from the motor bracket, and the upper gear is connected to the motor reducer arranged in the motor bracket; an output shaft rotatably connected to the gear support plate is provided on the gear support plate, a lower gear is provided on one side of the output shaft, and a driving wheel is provided on the other side, and the driving wheel and the lower gear are clearance-matched with the driving wheel holes respectively arranged on the left fixed plate and the right fixed plate; a bearing frame is provided on the gear support plate, an intermediate shaft is provided on the bearing frame, a middle gear is provided on the intermediate shaft that meshes with the upper gear and the lower gear, and the middle gear is connected to the intermediate shaft through a retaining ring and a key; the upper gear is fixed to the rotating shaft of the motor reducer by a gasket, a bolt and a key; the lower gear is fixed to the output shaft by a gasket, a bolt and a key; the motor reducer is fixedly connected to the gear support plate by screws and pins.

[0009] Preferably, the suspension mechanism includes an inverted L-shaped suspension plate connected to a suspension support, a suspension groove is provided on the side of the suspension plate away from the suspension support, a suspension slider connected to the motor bracket and the gear support plate is provided in the suspension groove, and the top of the suspension slider is connected to a suspension spring arranged under the top of the suspension plate.

[0010] Preferably, the step-by-step lifting and lateral propulsion assembly includes a support frame that cooperates with the gap between the left fixed plate, the right fixed plate and the bottom plate, and a lifting frame that cooperates with the support frame; long sliders that cooperate with the left and right side surfaces of the bottom plate are symmetrically arranged on the support frame, and a rack connected to the support frame is arranged on one side of the long slider, and the long slider cooperates with a guide rail arranged on the lifting frame; sliding modules that cooperate with the bottom plate are arranged on both sides of the top of the lifting frame.

[0011] Preferably, the sliding module includes a sliding template arranged at the top of the lifting bracket, and a plurality of matching longitudinal rollers and transverse rollers are arranged on the outer side surface of the sliding template, and a plurality of reinforcing ribs connected to the lifting bracket are arranged on the inner side surface of the sliding template, and longitudinal rollers are arranged on both sides of the transverse roller, the number of transverse rollers is two, and the number of longitudinal rollers is four; a bottom motor reducer is provided on the lifting bracket, and the bottom motor reducer cooperates with the lifting drive shaft arranged on the lifting bracket through a transverse pinion, and a transverse large gear meshing with the transverse pinion is provided on the lifting drive shaft, and drive gears meshing with the rack connected by a retaining spring and a keyway are respectively provided at both ends of the lifting drive shaft; the bottom motor reducer and the transverse pinion are fixedly connected by a combination of keys and retaining springs.

[0012] Preferably, a transverse upper motor connected to the top surface of the base plate through an upper motor fixing plate is provided on the base plate, and the transverse upper motor cooperates with a double sprocket connecting member arranged on the lower surface of the top surface of the base plate through a short chain; a front sprocket fixing member is provided on the lower surface of the top surface of the base plate, the front sprocket fixing member includes a front sprocket fixing frame connected to the base plate, and the front sprocket fixing frame is provided with a front single sprocket, and the front single sprocket cooperates with the double sprocket connecting member through a long chain connected to the lifting bracket; the double sprocket connecting member includes a double sprocket connecting frame arranged on the lower surface of the top surface of the base plate and matching with the short chain and the long chain gap, and the double sprocket connecting frame is provided with two chain single sprockets that mesh with the short chain and the long chain respectively; the lifting bracket includes lifting support plates on both sides, and the lifting support plates are connected through a lifting platform; the transverse roller and the longitudinal roller are arranged on the outer side of the top of the sliding template; the guide rail is arranged on the outer side of the lifting support plate; the two driving gears are respectively located on the outer sides of the two lifting support plates; the lifting platform is provided with a chain fixing block connected to the long chain.

[0013] Preferably, the driven double-hub wheel assembly includes a driven wheel extension bracket respectively connected to the bottom ends of the left fixed plate and the right fixed plate, the driven wheel extension bracket is provided with a reinforced wheel axle, the reinforced wheel axle is provided with a double-hub driven wheel that matches the support frame clearance, and the double-hub driven wheel is connected to the reinforced wheel axle through a compression spring.

[0014] Preferably, the environmental perception and automatic control component includes a radar support plate arranged at the top of the front fixed plate, fill lights are symmetrically arranged on the radar support plate, and a laser radar is arranged on the top of the radar support plate; a power switch, an emergency stop switch, a battery display screen and a charging port are arranged on the top surface of the outer shell, and the power switch, the emergency stop switch, the battery display screen and the charging port are all arranged in the mounting hole, and three ultrasonic sensors are respectively arranged on the sides where the outer shell is connected to the left fixed plate and the right fixed plate, and the ultrasonic sensors are all arranged in the mounting holes; photoelectric sensors are symmetrically arranged on the bottom surfaces of the left fixed plate and the right fixed plate along the bottom plate; a longitudinal direction parallel to the movement direction of the active wheel is arranged on the bottom surface of the right fixed plate There are two photoelectric brackets, a horizontal photoelectric bracket that is perpendicular to the vertical photoelectric bracket, and two photoelectric sensors that match the gap with the support frame are respectively provided on the horizontal photoelectric bracket and the vertical photoelectric bracket, and the photoelectric sensors are installed in the mounting holes on the horizontal photoelectric bracket and the vertical photoelectric bracket; a groove-type photoelectric sensor is provided on the bottom plate; batteries and a control system are distributed on the bottom plate, the left fixed plate and the right fixed plate, and are mainly fixed by screws. The control system receives data from various sensors in real time and combines the environmental perception information to adjust the motion trajectory of the steel bar tying robot, thereby realizing autonomous motion and intelligent control of the steel bar tying robot in a complex environment.

[0015] A method for using a mobile chassis of a self-propelled steel bar tying robot comprises the following steps: S01, mobile chassis powered on and self-checked; After the equipment is powered on, the motors of the mobile chassis are activated and enabled, ready to receive instructions from the controller and perform subsequent operations; the ultrasonic sensors and laser radars installed on the outer shell of the steel bar tying robot are responsible for real-time monitoring of the surrounding environment and obstacles of the steel bar tying robot; when the laser radar ranging result is less than or equal to 100cm, the motors of the mobile chassis stop running and enter standby mode; when the ranging result is greater than 100cm, it means that the environment is safe and the mobile chassis can proceed to the next step; in addition, each ultrasonic sensor continues to measure the distance; when the ranging result of any sensor is less than 50cm, the system will disable the motor to ensure safety; only when the ranging results of all ultrasonic sensors are greater than 50cm, the motors on the mobile chassis will be enabled, allowing the steel bar tying robot to continue to perform subsequent tasks; S02, the mobile chassis drives the steel bar tying robot to move longitudinally; When the rebar tying robot moves longitudinally with the mobile chassis, the active wheels in the two adaptive high-position longitudinal moving components on the cross-layer convex frame component start to rotate, driving the rebar tying robot to move longitudinally; at this time, the mobile chassis will approach the target position after the signal of the photoelectric sensor on the horizontal photoelectric bracket changes four times; according to the specific requirements of the tying task, the automatic controller will make slight adjustments at this time, and then the motor reducer will stop, waiting for the rebar tying robot to complete the corresponding tying task.

[0016] S03, the mobile chassis drives the steel bar tying robot to move horizontally; When the steel bar tying robot needs to move laterally with the mobile chassis, the bottom motor reducer starts, and the gear set consisting of the lateral small gear, the lateral large gear and the driving gear drives the support frame to move downward along the guide rail until the support frame contacts the steel mesh surface, and then the steel bar tying robot is lifted to a predetermined height as a whole by lifting the mobile chassis; during this process, the contact between the steel bar tying robot and the steel mesh surface is temporarily disconnected to prepare for lateral movement; then, when the upper lateral motor receives the start signal, the upper lateral motor starts to rotate, driving the single sprocket to engage with the short chain, and the short chain further moves. The long chain is driven to rotate through the double sprocket connector. Since the long chain is connected to the lifting bracket, the wheel group between the lifting bracket and the base plate ensures the sliding between the lifting bracket and the base plate. At this time, the rotation of the upper lateral motor makes the entire steel bar tying robot move forward with the mobile chassis, thereby completing the lateral movement of the entire steel bar tying robot; when the steel bar tying robot reaches the target position, the bottom motor reducer starts again, driving the support frame to move upward along the guide rail, and gradually lowers the steel bar tying robot onto the steel mesh by lowering the mobile chassis, completing the lateral movement process of the steel bar tying robot.

[0017] Compared with the prior art, the present invention has the following beneficial effects: 1. The driven double-hub wheel assembly of the present invention can directly adapt to different steel bar spacings without adjustment, and meet the operating requirements under different steel bar spacings; the adaptive high-position longitudinal movement assembly of the present invention can adaptively adjust the height according to the uneven characteristics of the steel bar mesh surface, and can adapt to various uneven and complex steel bar mesh environments, and achieve the purpose of autonomous and stable walking in complex steel bar mesh environments; the step-by-step lifting and lateral propulsion assembly of the present invention can realize the smooth and efficient lateral movement of the steel bar binding robot, further improve its adaptability and operating efficiency under irregular terrain conditions, and can achieve precise movement in complex environments.

[0018] 2. The present invention is highly automated, has excellent work efficiency, low production cost, and is easy to maintain, and can effectively reduce overall operating costs; the present invention has high safety, and multiple protection mechanisms are fully considered and designed in the design, which can ensure the stable operation of the equipment under various working conditions; in addition, the present invention has good adaptability, can flexibly respond to various environmental conditions, can meet the needs of different application scenarios, and has broad market prospects.

[0019] 3. In order to overcome the technical deficiencies of existing rebar tying robots such as complex operation and unstable movement, the present invention provides a self-propelled rebar tying robot mobile chassis with optimized structure, simple operation and stable movement; the mobile chassis introduces a variety of mechanical structures such as slide rails, guide rails and gear racks to optimize the movement accuracy and stability of the chassis on the rebar mesh surface, thereby effectively overcoming the technical difficulties of the rebar tying robot chassis in the prior art in complex rebar mesh environments such as inaccurate movement and poor autonomy; through structural innovation, the present invention not only improves the adaptability of the chassis in different rebar tying environments, but also enhances the autonomous movement ability on the rebar mesh surface with low flatness, thereby better meeting the high efficiency and high precision requirements for rebar tying in actual construction.

[0020] 4. The cross-layer convex frame assembly of the present invention serves as the main support of the entire steel bar tying robot structure. It has excellent structural stability and impact resistance, and can provide a reliable support platform for other components, thereby ensuring the stable operation of the entire equipment on the steel bar mesh surface; the adaptive high-position longitudinal movement assembly serves as the core system of the steel bar tying robot's longitudinal walking, which improves the steel bar tying robot's ability to pass on rugged steel bar mesh surfaces and ensures stability and efficiency in various complex construction environments; the step-by-step lifting and lateral propulsion assembly is specially designed for steel bar mesh surfaces with poor flatness, which can realize the smooth and efficient lateral movement of the steel bar tying robot, further improving Improve its adaptability and operating efficiency under irregular terrain conditions; the driven double-hub wheel assembly has the characteristic of automatically adapting to the sizes of steel bars of different specifications, which effectively expands the application scope of the steel bar tying robot and enables it to easily cope with the construction requirements of various steel bar specifications; the environmental perception and automatic control component is the intelligent perception and autonomous control module of the whole machine. It monitors the changes in the surrounding environment and internal motion status of the steel bar tying robot in real time through multiple sensors, accurately perceives and collects on-site data, and instantly generates control instructions based on feedback information, and dynamically adjusts the mobile chassis to ensure that the steel bar tying robot can operate stably in complex environments and optimize its working path, significantly improving construction accuracy.

[0021] 5. The mobile chassis of the self-propelled steel bar tying robot of the present invention can realize autonomous and stable walking on complex steel bar meshes with different sizes and specifications, thereby greatly improving the construction efficiency of steel bar tying operations and significantly shortening the construction period, and can realize more efficient and stable steel bar mesh movement and precise tying; the present invention has broad application prospects and promotion value in the field of intelligent building construction equipment, and will provide strong technical support for the automation and intelligent construction of the construction industry. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the structure of the present invention in Embodiment 1 of the present invention; Figure 2 This is a schematic diagram of the structure of a cross-layer convex-shaped rack assembly in Example 1 of the present invention; Figure 3 This is a schematic diagram of the structure of an adaptive high-position longitudinal moving component in Embodiment 1 of the present invention; Figure 4 This is a schematic diagram of the structure of the step-by-step lifting and lowering lateral propulsion assembly in Example 1 of the present invention; Figure 5 This is a schematic diagram of the structure of the step-by-step lifting and lowering lateral propulsion assembly in Example 1 of the present invention; Figure 6 This is a schematic structural diagram of a driven dual-hub wheel assembly in Embodiment 1 of the present invention; Figure 7 This is a schematic diagram of the structure of the environment perception and automatic control component in Example 1 of the present invention; Figure 8 This is a schematic diagram of the structure of the environment perception and automatic control component in Example 1 of the present invention; Fig. 9 This is a schematic diagram of the overall structure of the present invention in Example 1 of the present invention; Fig.10 It is a schematic diagram of the walking process of the steel bar tying robot in Example 1 of the present invention.

[0023] In the figure, a cross-layer convex frame component 1, a step-by-step lifting and lateral propulsion component 2, an adaptive high-position longitudinal movement component 3, a driven double-hub wheel component 4, an environmental perception and automatic control component 5, a front fixed plate 6, a bottom plate 7, a left fixed plate 8, a right fixed plate 9, a suspension mechanism 10, a gear support plate 11, a suspension support 12, a gasket 13, a bearing frame 14, a lower gear 15, an output shaft 16, a motor reducer 17, a motor bracket 18, an upper gear 19, a middle gear 20, a driving wheel 21, a long chain 22, a short chain 23, an upper motor fixing plate 24, a lateral upper motor 25, a double sprocket connecting piece 26, a sliding module 27, a bottom motor reducer 28, a lateral small gear 29, a lateral Large gear 30, lifting bracket 31, lifting drive shaft 32, support frame 33, transverse roller 34, front sprocket fixing 35, front single sprocket 36, longitudinal roller 37, rack 38, driving gear 39, guide rail 40, long slider 41, driven wheel extension bracket 42, reinforced wheel axle 43, double hub driven wheel 44, compression spring 45, fill light 46, power switch 47, emergency stop switch 48, power display screen 49, charging port 50, laser radar 51, ultrasonic sensor 52, photoelectric sensor 53, transverse photoelectric bracket 54, radar support plate 55, slot-type photoelectric sensor 56, longitudinal photoelectric bracket 57, limit column 58, battery 59, control system 60, casing 61. DETAILED DESCRIPTION

[0024] The present invention is further described in detail below through specific examples, but the scope of the present invention is not limited thereto.

[0025] Example 1 A self-propelled steel bar tying robot mobile chassis, its structure is as follows Figure 1-9 As shown, it includes a cross-layer convex-shaped frame assembly 1, the top of the cross-layer convex-shaped frame assembly 1 is provided with an environment sensing and automatic control assembly 5, and the bottom of the cross-layer convex-shaped frame assembly 2 is provided; both sides of the environment sensing and automatic control assembly 5 are provided with a gap to connect with the cross-layer convex-shaped frame assembly 1; both sides of the step-by-step lifting and lateral propulsion assembly 2 are provided with a gap to connect with a pair of driven double-hub wheel assemblies 4 connected with the cross-layer convex-shaped frame assembly 1.

[0026] The cross-layer convex frame assembly 1 includes a ∩-shaped bottom plate 7, and the bottom ends of the left and right sides of the bottom plate 7 are respectively connected to a left fixed plate 8 and a right fixed plate 9, and the other side of the bottom plate 7 is provided with a front fixed plate 6 connected to the left fixed plate 8, the right fixed plate 9 and the bottom plate 7, and the bottom plate 7 is provided with a shell 61 connected to the left fixed plate 8, the right fixed plate 9 and the front fixed plate 6.

[0027] The adaptive high-position longitudinal movement component 3 includes a suspension support 12 respectively arranged on the left fixed plate 8 and the right fixed plate 9, the suspension support 12 is connected to the motor bracket 18 through the suspension mechanism 10, a gear support plate 11 is provided on one side of the motor bracket 18, an upper gear 19 is provided on the side of the gear support plate 11 away from the motor bracket 18, and the upper gear 19 is connected to the motor reducer 17 arranged in the motor bracket 18; an output shaft 16 rotatably connected to the gear support plate 11 is provided on the gear support plate 11, a lower gear 15 is provided on one side of the output shaft 16, and a driving wheel 21 is provided on the other side, and the driving wheel 21 and the lower gear 15 are respectively matched with the driving wheel 21 hole clearance arranged on the left fixed plate 8 and the right fixed plate 9; a bearing frame 14 is provided on the gear support plate 11, an intermediate shaft is provided on the bearing frame 14, and a middle gear 20 meshing with the upper gear 19 and the lower gear 15 is provided on the intermediate shaft. The suspension mechanism 10 includes an inverted L-shaped suspension plate connected to a suspension support 12. A suspension groove is provided on the side of the suspension plate away from the suspension support 12. A suspension slider connected to the motor bracket 18 and the gear support plate 11 is provided in the suspension groove. The top of the suspension slider is connected to a suspension spring arranged under the top of the suspension plate.

[0028] The step-by-step lifting lateral propulsion assembly 2 includes a support frame 33 that is gap-matched with the left fixed plate 8, the right fixed plate 9 and the bottom plate 7, and a lifting bracket 31 that is matched with the support frame 33; long sliders 41 that are matched with the left and right side surfaces of the bottom plate 7 are symmetrically arranged on the support frame 33, and a rack 38 connected to the support frame 33 is arranged on one side of the long slider 41, and the long slider 41 is matched with a guide rail 40 arranged on the lifting bracket 31; sliding modules 27 that are matched with the bottom plate 7 are arranged on both sides of the top of the lifting bracket 31.

[0029] The sliding module 27 includes a sliding template arranged at the top of the lifting bracket 31, and a plurality of longitudinal rollers 37 and transverse rollers 34 are provided on the outer side of the sliding template, and longitudinal rollers 37 are provided on both sides of the transverse rollers 34; a bottom motor reducer 28 is provided on the lifting bracket 31, and the bottom motor reducer 28 cooperates with the lifting drive shaft 32 arranged on the lifting bracket 31 through a transverse small gear 29, and a transverse large gear 30 meshing with the transverse small gear 29 is provided on the lifting drive shaft 32, and drive gears 39 meshing with the rack 38 are respectively provided at both ends of the lifting drive shaft 32.

[0030] The bottom plate 7 is provided with a transverse upper motor 25 connected to the top surface of the bottom plate 7 through an upper motor fixing plate 24, and the transverse upper motor 25 cooperates with a double sprocket connecting member 26 arranged on the lower surface of the top surface of the bottom plate 7 through a short chain 23; a front sprocket fixing member 35 is provided on the lower surface of the top surface of the bottom plate 7, and the front sprocket fixing member 35 includes a front sprocket fixing frame connected to the bottom plate 7, and a front single sprocket 36 is provided on the front sprocket fixing frame, and the front single sprocket 36 cooperates with the double sprocket connecting member 26 through a long chain 22 connected to the lifting bracket 31; the double sprocket connecting member 26 includes a double sprocket connecting frame arranged on the lower surface of the top surface of the bottom plate 7 and gap-matched with the short chain 23 and the long chain 22, and the double sprocket connecting frame is provided with two chain single sprockets respectively meshing with the short chain 23 and the long chain 22.

[0031] The driven double-hub wheel assembly 4 includes a driven wheel extension bracket 42 connected to the bottom ends of the left fixed plate 8 and the right fixed plate 9 respectively, and a reinforced wheel axle 43 is provided on the driven wheel extension bracket 42. The reinforced wheel axle 43 is provided with a double-hub driven wheel 44 that is clearance-matched with the support frame 33, and the double-hub driven wheel 44 is connected to the reinforced wheel axle 43 through a compression spring 45.

[0032] The environment perception and automatic control component 5 includes a radar support plate 55 arranged at the top of the front fixed plate 6, and a fill light 46 is symmetrically arranged on the radar support plate 55. A laser radar 51 is arranged at the top of the radar support plate 55; a power switch 47, an emergency stop switch 48, a power display screen 49 and a charging port 50 are arranged on the top surface of the shell 61, and three ultrasonic sensors 52 are arranged on the sides where the shell 61 is connected to the left fixed plate 8 and the right fixed plate 9; photoelectric sensors 53 are symmetrically arranged along the bottom plate 7 on the bottom surfaces of the left fixed plate 8 and the right fixed plate 9; a longitudinal photoelectric bracket 57 parallel to the movement direction of the active wheel 21 and a transverse photoelectric bracket 54 perpendicular to the longitudinal photoelectric bracket 57 are arranged on the bottom surface of the right fixed plate 9, and two photoelectric sensors with clearance matching with the support frame 33 are respectively arranged on the transverse photoelectric bracket 54 and the longitudinal photoelectric bracket 57; a groove-type photoelectric sensor 56 is arranged on the bottom plate 7; batteries 59 and a control system 60 are distributed on the bottom plate 7, the left fixed plate 8 and the right fixed plate 9; and the limit column 58 serves the purpose of limiting.

[0033] A method for using a mobile chassis of a self-propelled steel bar tying robot, the process is as follows: Fig.10 As shown, the following steps are included: S1. Power on and self-test of mobile chassis; Turn on the power switch 47, the power display screen 49 displays the power status in real time, the charging port 50 facilitates charging of the battery 59 of the mobile chassis, and the emergency stop switch 48 is used for emergency braking. After the device is powered on, the various motors of the mobile chassis will enter the enabled state, and then the automatic controller of the control system 60 in the environmental perception and automatic control component 5 begins to issue control instructions according to the preset program to instruct each motor to perform the corresponding operation; the mobile chassis is equipped with an ultrasonic sensor 52 on the shell 61 and a laser radar 51 on the top, and the fill light 46 on the top of the radar support plate 55 on the front fixed plate 6 is used for fill light. These sensors are used to monitor the surrounding environment of the mobile chassis in real time and detect obstacles. When the ranging value of the laser radar 51 is less than or equal to 100cm, it means that there is an obstacle in front of the mobile chassis or the distance is too close. At this time, all motors stop working, the mobile chassis is in a safe state, and no further movement is performed; on the contrary, when the ranging value of the laser radar 51 is greater than 100cm, it means that the path ahead is passable, and the mobile chassis will enter the next step and prepare to continue moving.

[0034] At the same time, the mobile chassis is also equipped with six ultrasonic sensors 52, which are respectively installed on the outer shell 61 of the mobile chassis to measure the distance to the surrounding objects. If the distance measurement value of any one of the ultrasonic sensors 52 is less than 50 cm, the motor will be stopped immediately to ensure that the mobile chassis will not contact obstacles or cause collisions; only when the distance measurement values ​​of all six ultrasonic sensors 52 are greater than 50 cm, the motor will resume working and the mobile chassis can continue to perform the next step.

[0035] After the mobile chassis is started, first, the active wheels 21 in the left and right two adaptive high-position longitudinal moving components 3 on the bottom plate 7 of the cross-layer convex frame component 1 start to rotate, and cooperate with the double-hub driven wheels 44 in the driven double-hub wheel component 4 to drive the mobile chassis to drive the steel bar tying robot to move longitudinally; at this time, the mobile chassis will approach the target position after the signal of the photoelectric sensor on the horizontal photoelectric bracket 54 changes four times; according to the specific requirements of the tying task, the automatic controller will make slight adjustments at this time to ensure that the mobile chassis drives the steel bar tying robot to accurately reach the target area and complete the corresponding tying operation; after completing the task, the motor reducer 17, that is, the longitudinal motor continues to run, and the above operations are repeated until the tying of the entire task area is completed.

[0036] When the mobile chassis needs to drive the rebar tying robot to move laterally, the step-by-step lifting and lateral propulsion assembly 2 is started, the motor reducer 17 stops working, and the bottom motor reducer 28 drives the support frame 33 to move downward along the guide rail 40 through the gear group until the support frame 33 lifts the rebar tying robot along with the mobile chassis to a predetermined height as a whole. The contact between the rebar tying robot and the rebar mesh is temporarily released, providing sufficient space for subsequent lateral movement operations.

[0037] During the lateral advancement process, the upper lateral motor 25 starts to rotate after receiving the start signal, driving the meshing between the single sprocket and the short chain 23; the short chain 23 drives the long chain 22 to rotate along the front single sprocket 36 on the front sprocket fixing part 35 through the double sprocket connecting part 26, and the long chain 22 is connected to the bottom lifting bracket 31; a sliding module 27 composed of a longitudinal roller 37 and a transverse roller 34 is provided between the lifting bracket 31 and the bottom plate 7 to ensure smooth sliding between the lifting bracket 31 and the bottom plate 7; the rotation of the upper lateral motor 25 enables the mobile chassis to drive the steel bar binding robot to advance laterally along a predetermined trajectory; when the steel bar binding robot reaches the target position, the bottom motor reducer 28 starts again, driving the support frame 33 to move upward along the guide rail 40, and gradually lifting the support frame 33 from the steel mesh surface to ensure that the support frame 33 smoothly detaches from the steel mesh surface and completes the lateral movement process. , the double-hub driven wheel 44 and the driving wheel 21 contact the steel mesh surface, and stay on the steel mesh surface under the action of gravity of the steel bar tying robot, and then the upper motor 25 of the horizontal movement is started again, and the lifting bracket 31 is driven to reset through the long chain 22, so that the mobile chassis drives the steel bar tying robot to move horizontally again; at the same time, the photoelectric sensor on the longitudinal photoelectric bracket 57 monitors the position of the mobile chassis through signal changes to ensure that the number of signal changes of the photoelectric sensor reaches a preset value (usually twice) to confirm that the steel bar tying robot has reached the target position; in order to ensure accurate positioning during movement, the mobile chassis is also equipped with left and right derailment photoelectric sensors 53. When the photoelectric sensor 53 detects the steel mesh surface, it ensures that the steel bar tying robot is still stably on the steel mesh surface to avoid derailment; at this time, the target position of the steel bar tying robot must ensure that the tying operation is performed at the appropriate position.

[0038] During use, the mobile chassis will adapt to the steel bar spacing of different steel mesh surfaces; the vehicle body is placed on the steel mesh surface, and since a driven double-hub wheel assembly 4 is configured, the mobile chassis only needs to ensure that the active wheel 21 is located on the steel bar, and the four double-hub driven wheels 44 must always be located on the steel mesh surface; after the mobile chassis is stable, the steel bar tying robot can start longitudinal movement; when the start signal is received, the motor reducer 17 on the two adaptive high-position longitudinal moving assemblies 3 will begin to maintain a rotating state, and the motor reducer 17 is connected to the active wheel 21 through a gear set composed of an upper gear 19, a middle gear 20 and a lower gear 15, and the drive gear 39 group rotates, thereby driving the active wheel 21 to rotate, and then the mobile chassis drives the steel bar tying robot to move longitudinally; in this process, the double-hub driven wheel 44 in the driven double-hub wheel assembly 4 rotates with the active wheel 21 when the vehicle body moves, mainly playing an auxiliary support role to ensure the stability of the longitudinal movement of the steel bar tying robot.

[0039] S2, the mobile chassis drives the steel bar tying robot to move longitudinally; When the steel bar tying robot moves longitudinally with the mobile chassis, the rotating shaft of the motor reducer 17 in the adaptive high-position longitudinal moving component 3 is connected to the upper gear 19 through the gasket 13. The motor reducer 17, that is, the longitudinal motor, drives the upper gear 19 to rotate on the motor bracket 18. The upper gear 19 is engaged with the lower gear 15 through the middle gear 20 in the bearing frame 14. The lower gear 15 drives the active wheel 21 to move through the output shaft 16, thereby driving the entire mobile chassis to move through the left fixed plate 8 and the right fixed plate 9, and then driving the steel bar tying robot to move on the steel mesh surface.

[0040] The driven double-hub wheel assembly 4 is provided with two pairs of double-hub driven wheels 44 under the bottom surfaces of the left fixed plate 8 and the right fixed plate 9, which can cooperate with the driving wheel 21 to meet the needs of the mobile chassis walking on different steel bar spacings, so that the driven double-hub wheel assembly 4 can directly adapt to different steel bar spacings without adjustment. With the movement of the driving wheel 21, the double-hub driven wheel 44 rotates on the driven wheel extension bracket 42 along the reinforced wheel axle 43 through the compression spring 45, so as to facilitate the smooth movement of the mobile chassis on different steel bar spacings.

[0041] During the longitudinal movement, when the active wheel 21 encounters a protrusion on the steel mesh surface, such as an obstacle such as a bundling node, the suspension mechanism 10 on the adaptive high-position longitudinal moving component 3 has an adaptive buffering effect. At this time, the protrusion on the steel mesh surface applies a lifting force to the active wheel 21, and the active wheel 21 transmits the force to the suspension slider in the suspension mechanism 10 through the gear support plate 11 and the motor bracket 18. The suspension slider rises along the suspension slide within a certain range of the inverted L-shaped suspension plate. The suspension support 12 plays the role of fixing the inverted L-shaped suspension plate. The suspension spring in the suspension mechanism 10 is squeezed and compressed, thereby producing a buffering effect on the adaptive high-position longitudinal moving component 3, reducing the impact caused by the protrusion, and ensuring the smooth operation of the steel bar binding robot.

[0042] S3, the mobile chassis drives the steel bar tying robot to move horizontally; When the steel bar tying robot needs to move laterally with the mobile chassis or cross to another steel bar, the operation process is divided into several steps: first, the bottom motor reducer 28 drives the support frame 33 to move downward along the guide rail 40 through the gear group composed of the lateral small gear 29, the lateral large gear 30 and the driving gear 39. At this time, the driving gear 39 on the lifting drive shaft 32 is meshed with the rack 38, and the long slider 41 moves along the guide rail 40 until the support frame 33 contacts the steel mesh surface, and then the steel bar tying robot is lifted to a predetermined height as a whole by lifting the mobile chassis; in this process, the contact between the steel bar tying robot and the steel mesh surface is temporarily disconnected to prepare for lateral movement; then, after the lateral upper motor 25, i.e., the lateral motor, receives the start signal, the lateral upper motor 25, i.e., the lateral motor on the upper motor fixing plate 24, is meshed between the single sprocket and the short chain 23, The short chain 23 further drives the long chain 22 to move along the front single sprocket 36 on the front sprocket fixing part 35 through the chain single sprocket on the double sprocket connecting part 26. Since the long chain 22 is connected to the lifting bracket 31 at the bottom, the lifting bracket 31 moves with the long chain 22, and a roller group is provided between the lifting bracket 31 and the bottom plate 7 to ensure smooth sliding between the lifting bracket 31 and the bottom plate 7. When the support frame 33 is supported and fixed on the steel mesh surface, the bottom plate 7 moves along the longitudinal roller 37 and the transverse roller 34 of the sliding module 27; at this time, the rotation of the upper transverse motor 25 propels the entire steel bar binding robot forward to complete the transverse movement of the steel bar binding. When the steel bar binding robot reaches the target position, the bottom motor reducer 28 is started again to drive the support frame 33 to move upward along the guide rail 40, gradually placing the steel bar binding robot on the steel mesh surface to complete the transverse movement process.

[0043] The distance of each lateral or longitudinal movement can be precisely controlled by the motor; to ensure precise control of the equipment and reduce errors during movement, the mobile chassis is equipped with a variety of sensors such as laser radar 51, ultrasonic sensor 52, photoelectric sensor 53, slot photoelectric sensor 56, etc.; specifically, the lateral photoelectric bracket 54 and the longitudinal photoelectric bracket 57 are each equipped with two photoelectric sensors, which are used to monitor and determine the number of steel bars crossed by the mobile chassis in real time during the lateral and longitudinal movements, respectively. These sensors can accurately feedback the displacement data of the mobile chassis, thereby achieving precise control of the positioning and movement of the steel bar tying robot; in addition, to ensure that the steel bar tying robot always remains stable and does not leave the steel bar mesh during movement, photoelectric sensors 53 are also installed on both sides of the shell 61; these sensors can monitor the relative position of the mobile chassis to ensure that the steel bar tying robot is always on the steel bar mesh after lateral or longitudinal movement, and avoid derailment or instability, and it is necessary to ensure that the tying gun does not touch the steel bars too early in subsequent tying tasks.

[0044] Example 2 A method for using a mobile chassis of a self-propelled steel bar tying robot comprises the following steps: S01, mobile chassis powered on and self-checked; After the device is powered on, each motor of the mobile chassis is activated and enabled, ready to receive instructions from the controller and perform subsequent operations; the ultrasonic sensor 52 and the laser radar 51 installed on the mobile chassis housing 61 of the environmental perception and automatic control component 5 are responsible for real-time monitoring of the surrounding environment and obstacles of the mobile chassis; when the ranging result of the laser radar 51 is less than or equal to 100cm, each motor of the mobile chassis stops running and enters a standby state; when the ranging result is greater than 100cm, it indicates that the environment is safe and the mobile chassis can proceed to the next step; in addition, the six ultrasonic sensors 52 continue to measure the distance; when the ranging result of any sensor is less than 50cm, the system will disable the motor to ensure safety; only when the ranging results of all ultrasonic sensors 52 are greater than 50cm, the motor will be enabled, allowing the mobile chassis to continue to perform subsequent tasks; S02, the mobile chassis drives the steel bar tying robot to move longitudinally; When the steel bar tying robot moves longitudinally with the mobile chassis, the active wheels 21 in the left and right two adaptive high-position longitudinal moving components 3 of the cross-layer convex frame component 1 start to rotate, driving the mobile chassis to move longitudinally; at this time, the mobile chassis will approach the target position after the signal of the photoelectric sensor on the horizontal photoelectric bracket 54 changes four times; according to the specific requirements of the tying task, the automatic controller will make slight adjustments at this time, and then the motor reducer 17 will stop, waiting for the steel bar tying robot to complete the corresponding tying task.

[0045] S03, the mobile chassis drives the steel bar tying robot to move horizontally; When the steel bar tying robot needs to move laterally with the mobile chassis, the bottom motor reducer 28 starts to drive the support frame 33 to move downward along the guide rail 40 through the gear group composed of the lateral movement small gear 29, the lateral movement large gear 30 and the driving gear 39 until the support frame 33 contacts the steel mesh surface, and then the steel bar tying robot is lifted to a predetermined height as a whole by lifting the mobile chassis; during this process, the contact between the steel bar tying robot and the steel mesh surface is temporarily disconnected to prepare for lateral movement; then, when the lateral movement upper motor 25 receives the start signal, the lateral movement upper motor 25 starts to rotate, driving the single sprocket and the short The chains 23 are meshed with each other, and the short chain 23 further drives the long chain 22 to rotate through the double sprocket connector 26. The long chain 22 is connected to the bottom lifting bracket 31. The wheel group between the lifting bracket 31 and the bottom plate 7 ensures the sliding between the lifting bracket 31 and the bottom plate 7. At this time, the rotation of the upper lateral motor 25 propels the entire steel bar binding robot forward to complete the lateral movement; when the steel bar binding robot reaches the target position, the bottom motor reducer 28 starts again, driving the support frame 33 to move upward along the guide rail 40, and gradually lowering the steel bar binding robot to the steel mesh surface to complete the lateral movement process.

[0046] Example 3 A self-propelled steel bar tying robot mobile chassis adopts the following method of use, including the following steps: S1. Power on and self-test of mobile chassis; Turn on the power switch 47, the power display screen 49 displays the power status in real time, the charging port 50 facilitates charging of the battery 59 of the mobile chassis, and the emergency stop switch 48 is used for emergency braking. After the device is powered on, the various motors of the mobile chassis will enter the enabled state, and then the automatic controller of the control system 60 in the environmental perception and automatic control component 5 begins to issue control instructions according to the preset program to instruct each motor to perform the corresponding operation; the mobile chassis is equipped with an ultrasonic sensor 52 on the shell 61 and a laser radar 51 on the top, and the fill light 46 on the top of the radar support plate 55 on the front fixed plate 6 is used for fill light. These sensors are used to monitor the surrounding environment of the mobile chassis in real time and detect obstacles. When the ranging value of the laser radar 51 is less than or equal to 100cm, it means that there is an obstacle in front of the mobile chassis or the distance is too close. At this time, all motors stop working, the mobile chassis is in a safe state, and no further movement is performed; on the contrary, when the ranging value of the laser radar 51 is greater than 100cm, it means that the path ahead is passable, and the mobile chassis will enter the next step and prepare to continue moving.

[0047] At the same time, the mobile chassis is also equipped with six ultrasonic sensors 52, which are respectively installed on the outer shell 61 of the mobile chassis to measure the distance to the surrounding objects. If the distance measurement value of any one of the ultrasonic sensors 52 is less than 50 cm, the motor will be stopped immediately to ensure that the mobile chassis will not contact obstacles or cause collisions; only when the distance measurement values ​​of all six ultrasonic sensors 52 are greater than 50 cm, the motor will resume working and the mobile chassis can continue to perform the next step.

[0048] After the mobile chassis is started, first, the active wheels 21 in the left and right two adaptive high-position longitudinal moving components 3 on the bottom plate 7 of the cross-layer convex frame component 1 start to rotate, and cooperate with the double-hub driven wheels 44 in the driven double-hub wheel component 4 to drive the mobile chassis to drive the steel bar tying robot to move longitudinally; at this time, the mobile chassis will approach the target position after the signal of the photoelectric sensor on the horizontal photoelectric bracket 54 changes four times; according to the specific requirements of the tying task, the automatic controller will make slight adjustments at this time to ensure that the mobile chassis drives the steel bar tying robot to accurately reach the target area and complete the corresponding tying operation; after completing the task, the motor reducer 17 continues to operate, and the above operations are repeated until the tying of the entire task area is completed.

[0049] When the mobile chassis needs to drive the rebar tying robot to move laterally, the step-by-step lifting and lateral propulsion assembly 2 is started, the motor reducer 17 stops working, and the bottom motor reducer 28 drives the support frame 33 to move downward along the guide rail 40 through the gear group until the support frame 33 lifts the rebar tying robot along with the mobile chassis to a predetermined height as a whole. The contact between the rebar tying robot and the rebar mesh is temporarily released, providing sufficient space for subsequent lateral movement operations.

[0050] During the lateral advancement process, the upper lateral motor 25 starts to rotate after receiving the start signal, driving the meshing between the single sprocket and the short chain 23; the short chain 23 drives the long chain 22 to rotate along the front single sprocket 36 on the front sprocket fixing part 35 through the double sprocket connecting part 26, and the long chain 22 is connected to the bottom lifting bracket 31; a sliding module 27 composed of a longitudinal roller 37 and a transverse roller 34 is provided between the lifting bracket 31 and the bottom plate 7 to ensure smooth sliding between the lifting bracket 31 and the bottom plate 7; the rotation of the upper lateral motor 25 enables the mobile chassis to drive the steel bar binding robot to advance laterally along a predetermined trajectory; when the steel bar binding robot reaches the target position, the bottom motor reducer 28 starts again, driving the support frame 33 to move upward along the guide rail 40, and gradually lifting the support frame 33 from the steel mesh surface to ensure that the support frame 33 smoothly detaches from the steel mesh surface and completes the lateral movement process. , the double-hub driven wheel 44 and the driving wheel 21 contact the steel mesh surface, and stay on the steel mesh surface under the action of gravity of the steel bar tying robot, and then the upper motor 25 of the horizontal movement is started again, and the lifting bracket 31 is driven to reset through the long chain 22, so that the mobile chassis drives the steel bar tying robot to move horizontally again; at the same time, the photoelectric sensor on the longitudinal photoelectric bracket 57 monitors the position of the mobile chassis through signal changes to ensure that the number of signal changes of the photoelectric sensor reaches a preset value (usually twice) to confirm that the steel bar tying robot has reached the target position; in order to ensure accurate positioning during movement, the mobile chassis is also equipped with left and right derailment photoelectric sensors 53. When the photoelectric sensor 53 detects the steel mesh surface, it ensures that the steel bar tying robot is still stably on the steel mesh surface to avoid derailment; at this time, the target position of the steel bar tying robot must ensure that the tying operation is performed at the appropriate position.

[0051] During use, the mobile chassis will adapt to the steel bar spacing of different steel mesh surfaces; the vehicle body is placed on the steel mesh surface, and since a driven double-hub wheel assembly 4 is configured, the mobile chassis only needs to ensure that the active wheel 21 is located on the steel bar, and the four double-hub driven wheels 44 must always be located on the steel mesh surface; after the mobile chassis is stable, the steel bar tying robot can start longitudinal movement; when the start signal is received, the motor reducer 17 on the two adaptive high-position longitudinal moving assemblies 3 will begin to maintain a rotating state, and the motor reducer 17 is connected to the active wheel 21 through a gear set composed of an upper gear 19, a middle gear 20 and a lower gear 15, and the drive gear 39 group rotates, thereby driving the active wheel 21 to rotate, and then the mobile chassis drives the steel bar tying robot to move longitudinally; in this process, the double-hub driven wheel 44 in the driven double-hub wheel assembly 4 rotates with the active wheel 21 when the vehicle body moves, mainly playing an auxiliary support role to ensure the stability of the longitudinal movement of the steel bar tying robot.

[0052] S2, the mobile chassis drives the steel bar tying robot to move longitudinally; When the steel bar tying robot moves longitudinally with the mobile chassis, the rotating shaft of the motor reducer 17 in the adaptive high-position longitudinal moving component 3 is connected to the upper gear 19 through the gasket 13, and the motor reducer 17 drives the upper gear 19 to rotate on the motor bracket 18. The upper gear 19 is meshed with the lower gear 15 through the middle gear 20 in the bearing frame 14, and the lower gear 15 drives the active wheel 21 to move through the output shaft 16, thereby driving the entire mobile chassis to move through the left fixed plate 8 and the right fixed plate 9, and then driving the steel bar tying robot to move on the steel mesh surface.

[0053] The driven double-hub wheel assembly 4 is provided with two pairs of double-hub driven wheels 44 under the bottom surfaces of the left fixed plate 8 and the right fixed plate 9, which can cooperate with the driving wheel 21 to meet the needs of the mobile chassis walking on different steel bar spacings, so that the driven double-hub wheel assembly 4 can directly adapt to different steel bar spacings without adjustment. With the movement of the driving wheel 21, the double-hub driven wheel 44 rotates on the driven wheel extension bracket 42 along the reinforced wheel axle 43 through the compression spring 45, so as to facilitate the smooth movement of the mobile chassis on different steel bar spacings.

[0054] During the longitudinal movement, when the active wheel 21 encounters a protrusion on the steel mesh surface, such as an obstacle such as a bundling node, the suspension mechanism 10 on the adaptive high-position longitudinal moving component 3 has an adaptive buffering effect. At this time, the protrusion on the steel mesh surface applies a lifting force to the active wheel 21, and the active wheel 21 transmits the force to the suspension slider in the suspension mechanism 10 through the gear support plate 11 and the motor bracket 18. The suspension slider rises along the suspension slide within a certain range of the inverted L-shaped suspension plate. The suspension support 12 plays the role of fixing the inverted L-shaped suspension plate. The suspension spring in the suspension mechanism 10 is squeezed and compressed, thereby producing a buffering effect on the adaptive high-position longitudinal moving component 3, reducing the impact caused by the protrusion, and ensuring the smooth operation of the steel bar binding robot.

[0055] S3, the mobile chassis drives the steel bar tying robot to move horizontally; When the steel bar tying robot needs to move laterally with the mobile chassis or cross over to another steel bar, the operation process is divided into several steps: first, the bottom motor reducer 28 drives the support frame 33 to move downward along the guide rail 40 through the gear group composed of the lateral small gear 29, the lateral large gear 30 and the driving gear 39. At this time, the driving gear 39 on the lifting drive shaft 32 is engaged with the rack 38, and the long slider 41 moves along the guide rail 40 until the support frame 33 contacts the steel mesh surface, and then the steel bar tying robot is lifted to a predetermined height as a whole by lifting the mobile chassis; in this process, the contact between the steel bar tying robot and the steel mesh surface is temporarily disconnected to prepare for lateral movement; then, after the lateral upper motor 25 receives the start signal, the lateral upper motor 25 on the upper motor fixing plate 24 engages with the short chain 23 through the single sprocket, and the short chain 23 The long chain 22 is further driven by the chain single sprocket on the double sprocket connecting member 26 to move along the front single sprocket 36 on the front sprocket fixing member 35. Since the long chain 22 is connected to the lifting bracket 31 at the bottom, the lifting bracket 31 moves with the long chain 22, and a roller group is provided between the lifting bracket 31 and the bottom plate 7 to ensure smooth sliding between the lifting bracket 31 and the bottom plate 7. When the support frame 33 is supported and fixed on the steel mesh surface, the bottom plate 7 moves along the longitudinal roller 37 and the transverse roller 34 of the sliding module 27; at this time, the rotation of the upper transverse motor 25 propels the entire steel bar binding robot forward to complete the transverse movement of the steel bar binding. When the steel bar binding robot reaches the target position, the bottom motor reducer 28 is started again to drive the support frame 33 to move upward along the guide rail 40, and gradually place the steel bar binding robot on the steel mesh surface to complete the transverse movement process.

[0056] The distance of each lateral or longitudinal movement can be precisely controlled by the motor; to ensure precise control of the equipment and reduce errors during movement, the mobile chassis is equipped with a variety of sensors such as laser radar 51, ultrasonic sensor 52, photoelectric sensor 53, slot photoelectric sensor 56, etc.; specifically, the lateral photoelectric bracket 54 and the longitudinal photoelectric bracket 57 are each equipped with two photoelectric sensors, which are used to monitor and determine the number of steel bars crossed by the mobile chassis in real time during the lateral and longitudinal movements, respectively. These sensors can accurately feedback the displacement data of the mobile chassis, thereby achieving precise control of the positioning and movement of the steel bar tying robot; in addition, to ensure that the steel bar tying robot always remains stable and does not leave the steel bar mesh during movement, photoelectric sensors 53 are also installed on both sides of the shell 61; these sensors can monitor the relative position of the mobile chassis to ensure that the steel bar tying robot is always on the steel bar mesh after lateral or longitudinal movement, and avoid derailment or instability, and it is necessary to ensure that the tying gun does not touch the steel bars too early in subsequent tying tasks.

[0057] Example 4 A self-propelled steel bar tying robot mobile chassis is different from Example 1 in that: the number of transverse rollers 34 is two, and the number of longitudinal rollers 37 is three.

[0058] Example 5 A mobile chassis of a self-propelled steel bar tying robot is different from that of Embodiment 1 in that: the number of transverse rollers 34 is two, and the number of longitudinal rollers 37 is four.

[0059] The above description is only a preferred embodiment of the present invention, but is not limited to the above examples. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A self-propelled steel bar tying robot mobile chassis, characterized in that: It comprises a cross-layer convex-shaped frame assembly, wherein an environment sensing and automatic control assembly is arranged at the top end of the cross-layer convex-shaped frame assembly, and a step-by-step lifting and lateral propulsion assembly is arranged at the bottom end; an adaptive high-position longitudinal movement assembly connected to the cross-layer convex-shaped frame assembly is arranged at a gap on both sides of the environment sensing and automatic control assembly; a pair of driven double-hub wheel assemblies connected to the cross-layer convex-shaped frame assembly is arranged at a gap on both sides of the step-by-step lifting and lateral propulsion assembly.

2. The mobile chassis of the self-propelled steel bar tying robot according to claim 1 is characterized in that: The cross-layer convex-shaped frame assembly includes a ∩-shaped bottom plate, the bottom ends of the left and right sides of the bottom plate are respectively connected to a left fixed plate and a right fixed plate, the other side of the bottom plate is provided with a front fixed plate connected to the left fixed plate, the right fixed plate and the bottom plate, and the bottom plate is provided with a shell connected to the left fixed plate, the right fixed plate and the front fixed plate.

3. The mobile chassis of the self-propelled steel bar tying robot according to claim 2 is characterized in that: The adaptive high-position longitudinal movement component includes suspension supports respectively arranged on the left fixed plate and the right fixed plate, the suspension supports are connected to the motor bracket through a suspension mechanism, a gear support plate is provided on one side of the motor bracket, an upper gear is provided on the side of the gear support plate away from the motor bracket, and the upper gear is connected to the motor reducer arranged in the motor bracket; an output shaft rotatably connected to the gear support plate is provided on the gear support plate, a lower gear is provided on one side of the output shaft, and a driving wheel is provided on the other side, and the driving wheel and the lower gear are clearance-matched with the driving wheel holes respectively arranged on the left fixed plate and the right fixed plate; a bearing frame is provided on the gear support plate, an intermediate shaft is provided on the bearing frame, and a middle gear meshing with the upper gear and the lower gear is provided on the intermediate shaft.

4. The mobile chassis of the self-propelled steel bar tying robot according to claim 3 is characterized in that: The suspension mechanism includes an inverted L-shaped suspension plate connected to a suspension support, a suspension groove is provided on the side of the suspension plate away from the suspension support, a suspension slider connected to a motor bracket and a gear support plate is provided in the suspension groove, and the top of the suspension slider is connected to a suspension spring arranged under the top of the suspension plate.

5. The mobile chassis of the self-propelled steel bar tying robot according to claim 4 is characterized in that: The step-by-step lifting and lateral propulsion assembly includes a support frame that cooperates with the gap between the left fixed plate, the right fixed plate and the bottom plate, and a lifting frame that cooperates with the support frame; the support frame is symmetrically provided with long sliders that cooperate with the left and right side surfaces of the bottom plate, one side of the long slider is provided with a rack connected to the support frame, and the long slider cooperates with the guide rail provided on the lifting frame; sliding modules that cooperate with the bottom plate are provided on both sides of the top of the lifting frame.

6. The mobile chassis of the self-propelled steel bar tying robot according to claim 5 is characterized in that: The sliding module includes a sliding template arranged at the top of the lifting bracket, and a plurality of longitudinal rollers and transverse rollers that match each other are arranged on the outer side surface of the sliding template, and longitudinal rollers are arranged on both sides of the transverse rollers; the lifting bracket is provided with a bottom motor reducer, and the bottom motor reducer cooperates with the lifting drive shaft arranged on the lifting bracket through a transverse small gear, and the lifting drive shaft is provided with a transverse large gear meshing with the transverse small gear, and both ends of the lifting drive shaft are respectively provided with drive gears meshing with the rack.

7. The mobile chassis of the self-propelled steel bar tying robot according to claim 6 is characterized in that: The base plate is provided with a transverse upper motor connected to the top surface of the base plate through an upper motor fixing plate, and the transverse upper motor cooperates with a double sprocket connecting piece arranged on the lower surface of the top surface of the base plate through a short chain; a front sprocket fixing piece is provided on the lower surface of the top surface of the base plate, and the front sprocket fixing piece includes a front sprocket fixing frame connected to the base plate, and a front single sprocket is provided on the front sprocket fixing frame, and the front single sprocket cooperates with the double sprocket connecting piece through a long chain connected to the lifting bracket; the double sprocket connecting piece includes a double sprocket connecting frame arranged on the lower surface of the top surface of the base plate and loosely matched with the short chain and the long chain, and the double sprocket connecting frame is provided with two chain single sprockets that respectively mesh with the short chain and the long chain.

8. The mobile chassis of the self-propelled steel bar tying robot according to claim 7 is characterized in that: The driven double-hub wheel assembly includes a driven wheel extension bracket respectively connected to the bottom ends of the left fixed plate and the right fixed plate, a reinforced wheel axle is provided on the driven wheel extension bracket, a double-hub driven wheel that matches the support frame clearance is provided on the reinforced wheel axle, and the double-hub driven wheel is connected to the reinforced wheel axle through a compression spring.

9. The mobile chassis of the self-propelled steel bar tying robot according to claim 8 is characterized in that: The environmental perception and automatic control component includes a radar support plate arranged at the top of the front fixed plate, fill lights are symmetrically arranged on the radar support plate, and a laser radar is arranged on the top of the radar support plate; a power switch, an emergency stop switch, a power display screen and a charging port are arranged on the top surface of the outer shell, and an ultrasonic sensor is arranged on the side where the outer shell is connected to the left fixed plate and the right fixed plate; photoelectric sensors are symmetrically arranged along the bottom plate on the bottom surfaces of the left fixed plate and the right fixed plate; a longitudinal photoelectric bracket parallel to the movement direction of the active wheel and a transverse photoelectric bracket perpendicular to the longitudinal photoelectric bracket are arranged on the bottom surface of the right fixed plate, and photoelectric sensors that match the gap with the support frame are arranged on the transverse photoelectric bracket and the longitudinal photoelectric bracket; a groove-type photoelectric sensor is arranged on the bottom plate; batteries and control systems are distributed on the bottom plate, the left fixed plate and the right fixed plate.

10. A method for using the mobile chassis of the self-propelled steel bar tying robot according to any one of claims 1 to 9, characterized in that: The steps include: S01, mobile chassis powered on and self-checked; After the equipment is powered on, the motors of the mobile chassis are activated and enabled, ready to receive instructions from the controller and perform subsequent operations; the ultrasonic sensors and laser radars installed on the outer shell of the steel bar tying robot are responsible for real-time monitoring of the surrounding environment and obstacles of the steel bar tying robot; when the laser radar ranging result is less than or equal to 100cm, the motors of the mobile chassis stop running and enter standby mode; when the ranging result is greater than 100cm, it means that the environment is safe and the mobile chassis can proceed to the next step; in addition, each ultrasonic sensor continues to measure the distance; when the ranging result of any sensor is less than 50cm, the system will disable the motor to ensure safety; only when the ranging results of all ultrasonic sensors are greater than 50cm, the motors on the mobile chassis will be enabled, allowing the steel bar tying robot to continue to perform subsequent tasks; S02, the mobile chassis drives the steel bar tying robot to move longitudinally; When the steel bar tying robot moves longitudinally with the mobile chassis, the active wheels in the left and right adaptive high-position longitudinal moving components on the cross-layer convex frame component start to rotate, driving the steel bar tying robot to move longitudinally; at this time, the mobile chassis will approach the target position after the signal of the photoelectric sensor on the horizontal photoelectric bracket changes four times; according to the specific requirements of the tying task, the automatic controller will make a slight adjustment at this time, and then the motor reducer will stop, waiting for the steel bar tying robot to complete the corresponding tying task; S03, the mobile chassis drives the steel bar tying robot to move horizontally; When the steel bar tying robot needs to move laterally with the mobile chassis, the bottom motor reducer starts, and the gear set consisting of the lateral small gear, the lateral large gear and the driving gear drives the support frame to move downward along the guide rail until the support frame contacts the steel mesh surface, and then the steel bar tying robot is lifted to a predetermined height as a whole by lifting the mobile chassis; during this process, the contact between the steel bar tying robot and the steel mesh surface is temporarily disconnected to prepare for lateral movement; then, when the upper lateral motor receives the start signal, the upper lateral motor starts to rotate, driving the single sprocket to engage with the short chain, and the short chain further moves. The long chain is driven to rotate through the double sprocket connector. Since the long chain is connected to the lifting bracket, the wheel group between the lifting bracket and the base plate ensures the sliding between the lifting bracket and the base plate. At this time, the rotation of the upper lateral motor makes the entire steel bar tying robot move forward with the mobile chassis, thereby completing the lateral movement of the entire steel bar tying robot; when the steel bar tying robot reaches the target position, the bottom motor reducer starts again, driving the support frame to move upward along the guide rail, and gradually lowers the steel bar tying robot onto the steel mesh by lowering the mobile chassis, completing the lateral movement process of the steel bar tying robot.

Images