A robot for walking on a steel mesh

Abstract

The application provides a walking robot on a steel mesh, and relates to the technical field of building robot equipment. The walking robot on the steel mesh comprises a chassis, a moving vehicle, a first space, a rack, a first transmission unit, a first driving unit, a second driving unit, a visual recognition unit and a motor. The chassis and the moving vehicle are located on the steel mesh, the motor provides driving force for the visual recognition unit, the second driving unit or the first transmission unit, the second driving unit drives the moving vehicle to move on the chassis in the process, and the moving vehicle drives the first transmission unit to move on the rack in the first space, and the visual recognition unit transmits the obtained obstacle data information and movement data information to the control system through the control module. Therefore, when working on the steel mesh, the robot is not affected by the diameter and spacing of the steel bars, the steel bar binding and the steel bar welding and other problems in the moving process, and the movement of the robot in the working process is not blocked.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of building robot equipment, and in particular to a walking robot on a steel mesh. BACKGROUND

[0002] At present, in the construction process, the work of steel binding, inspection and concrete pouring is heavy, and the degree of mechanization and automation is not high. The most common is still on-site manual work. The traditional construction method has problems of resource waste, low production efficiency and safety production, and intelligent construction is considered an effective way to solve the above problems. In recent years, with the development of automation technology and research in the computer field, corresponding building intelligent robots such as steel binding robots and concrete pouring robots have been introduced. Intelligent construction technology liberates the productivity of workers, reduces the dependence of the construction industry on labor, improves construction efficiency, reduces resource waste and reduces construction costs.

[0003] The building intelligent robot technology is relatively mature, but when working on the steel mesh, the movement of the robot is affected by the diameter and spacing of the steel bars, steel binding and steel welding, etc., which causes the movement of the robot to be blocked during the operation process.

[0004] Therefore, the above technical problems need to be further solved. SUMMARY

[0005] The purpose of the embodiment of the present application is to provide a walking robot on a steel mesh to avoid the influence of the diameter and spacing of the steel bars, steel binding and steel welding, etc. on the movement of the robot during the operation process, so that the movement of the robot is not blocked during the operation process.

[0006] To solve the above technical problems, the embodiment of the present application provides the following technical scheme:

[0007] The first aspect of the present application provides a walking robot on a steel mesh, comprising:

[0008] a chassis;

[0009] a moving vehicle arranged on the chassis and moving on the chassis;

[0010] a first space arranged in the chassis respectively and close to the long edges of the chassis;

[0011] a rack arranged on the inner edge of each first space;

[0012] a first transmission unit engaged with the rack and moving on the rack;

[0013] The first driving unit is located in the chassis and the mobile vehicle and drives the chassis and the mobile vehicle to lift and rotate during driving;

[0014] The second driving unit is arranged in the mobile vehicle and drives the mobile vehicle to move on the chassis;

[0015] The visual recognition unit is located on the top of the mobile vehicle and obtains obstacle data information around the chassis and the mobile vehicle, provides a moving route and moving data information scanned and recorded during movement of the mobile vehicle, and transmits the obstacle data information and the moving data information to the control module, which is signal-transmitted to the control system;

[0016] The motor is located in the mobile vehicle and electrically connected with the first driving unit, the second driving unit, the visual recognition unit, the first transmission unit and the control module.

[0017] Further, the first transmission unit comprises:

[0018] The gear is engaged with the rack in the first space;

[0019] The first connecting rod is connected with the two gears and drives the gears to move on the rack, the connecting rod is connected with a first power transmission line, and the other end of the first power transmission line is connected to the motor;

[0020] The first connecting piece is connected with the first connecting rod.

[0021] Further, the first driving unit comprises:

[0022] The support bottom plate;

[0023] The first lifting piece is arranged on the support bottom plate;

[0024] The second lifting piece is arranged on the first lifting piece and lifts on the first lifting piece, the second lifting piece is connected with a second power transmission line, and the other end of the second power transmission line is connected to the motor;

[0025] The rotating piece is sleeved on the outer surface of the second lifting piece and rotates perpendicularly to the axial direction of the second lifting piece, the rotating piece is connected with a third power transmission line, and the other end of the third power transmission line is connected to the motor.

[0026] Further, the second driving unit comprises:

[0027] The second connecting rod is arranged in the mobile vehicle and connected with the motor;

[0028] a third connecting rod arranged in the mobile vehicle and connected with the first connecting piece;

[0029] a second connecting piece arranged on the third connecting rod, and an end of the second connecting piece away from the third connecting rod is connected to the inner surface of the mobile vehicle;

[0030] a driving wheel arranged at each end of the second connecting rod;

[0031] a driven wheel arranged at each end of the third connecting rod.

[0032] Further, the visual recognition unit comprises:

[0033] a recognition support frame connected with the mobile vehicle;

[0034] a data acquisition device arranged on the recognition support frame and acquiring the obstacle data information and the movement data information;

[0035] a protection piece arranged on the data acquisition device.

[0036] Further, under the driving of the motor:

[0037] the driving wheel drives the second connecting rod, the third connecting rod and the driven wheel to move;

[0038] the third connecting rod drives the first connecting piece, the first connecting rod and the gear to move.

[0039] Further, when the gear moves to the gear located at the end of the first space:

[0040] the driving wheel stops moving, the second lifting piece rises, and the motor drives the first connecting rod to rotate the gear through the first power transmission line, thereby driving the chassis and the mobile vehicle to move.

[0041] Further, the mobile vehicle is provided with an external device connecting piece for connecting with a steel bar processing device.

[0042] Compared with the prior art, the first aspect of the present application provides a walking robot on a steel mesh, a chassis and a moving vehicle are located on the steel mesh, a motor provides driving force for a visual recognition unit, a second driving unit or a first transmission unit, the second driving unit drives the moving vehicle to move on the chassis and the moving vehicle drives the first transmission unit to move on a rack in a first space, and the visual recognition unit transmits the obtained obstacle data information and movement data information to a control system through a control module. Thus, when working on the steel mesh, the robot is not affected by the diameter and spacing of the steel bars, the binding and welding of the steel bars, etc., and the movement of the robot during work is not blocked. BRIEF DESCRIPTION OF DRAWINGS

[0043] The above and other objects, features and advantages of the exemplary embodiments of the present application will be more apparent from the following detailed description read in conjunction with the accompanying drawings, in which several embodiments of the present application are shown by way of example, and wherein the same or corresponding elements are referred to by the same or corresponding reference numerals. In the drawings:

[0044] Figure 1 A schematic view of a walking robot on a steel mesh is schematically shown;

[0045] Figure 2 A sectional view of a walking robot on a steel mesh is schematically shown;

[0046] Figure 3 A schematic view of a first space is schematically shown;

[0047] Figure 4 A schematic view of a first driving unit and a second driving unit is schematically shown;

[0048] BRIEF DESCRIPTION OF DRAWINGS

[0049] 1, chassis; 11, first space; 12, rack;

[0050] 2, moving vehicle;

[0051] 3, external device connector;

[0052] 4, visual recognition unit; 41, recognition support frame; 42, data acquisition device; 43, protective member;

[0053] 5, first transmission unit; 51, gear; 52, first connecting rod; 53, first connecting member;

[0054] 6, first driving unit; 61, support bottom plate; 62, first lifting member; 63, second lifting member; 64, rotating member;

[0055] 7. Second driving unit; 71. Second connecting rod; 72. Driving wheel; 73. Third connecting rod; 74. Second connecting member; 75. Driven wheel;

[0056] 8. Motor; 81. First power transmission line; 82. Third power transmission line;

[0057] 9. Control module. DETAILED DESCRIPTION

[0058] Exemplary embodiments of the present disclosure will be described in detail with reference to the drawings. Although exemplary embodiments of the present disclosure are shown in the drawings, it is to be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the present disclosure to those skilled in the art. Unless otherwise specified, technical means used in the examples are conventional means known to those skilled in the art.

[0059] It should be noted that, unless otherwise specified, the technical terms or scientific terms used in the present disclosure should be understood as the usual meaning understood by those skilled in the art to which the present disclosure belongs. In this text, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations. The terms "connected", "connected" and the like should be interpreted broadly, for example, it can be fixed connection, or detachable connection, or integral; it can be mechanical connection, or electrical connection; it can be direct connection, or indirect connection through intermediate medium. The term "includes", "includes" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or includes elements inherent to such process, method, article or equipment. Without more limitations, the elements defined by the statement "include" do not exclude the presence of other identical elements in the process, method, article or equipment including the elements.

[0060] The embodiment of the present application provides a walking robot on a steel mesh, which combines Figure 1 , Figure 2 , Figure 3 and Figure 4The robot that walks on a steel mesh includes a chassis 1, a mobile vehicle 2, first spaces 11, a rack 12, a first transmission unit 5, a first drive unit 6, a second drive unit 7, a vision recognition unit 4, and a motor 8. The mobile vehicle 2 is mounted on the chassis 1 and moves on it. The first spaces 11 are respectively located within the chassis 1, each near its long edge. The rack 12 is located on the inner edge of each first space 11. The first transmission unit 5 meshes with the rack 12 and moves on it. The first drive unit 6 is located in both the chassis 1 and the mobile vehicle 2, and raises, lowers, and rotates both the chassis 1 and the mobile vehicle 2 during operation. The second drive unit 7 is located within the mobile vehicle 2, enabling it to move on the chassis 1. The visual recognition unit 4, located on top of the mobile vehicle 2, acquires obstacle data around the chassis 1 and the mobile vehicle 2, as well as providing movement route and scanning and recording movement trajectory data during the movement of the mobile vehicle. Simultaneously, it transmits the obstacle data and movement data to the control module 9, which in turn transmits signals to the control system. The motor 8, located inside the mobile vehicle 2, is electrically connected to the first drive unit 6, the second drive unit 7, the visual recognition unit 4, the first transmission unit 5, and the control module 9.

[0061] In this embodiment, the chassis 1 and the mobile vehicle 2 are located on the steel mesh. The motor 8 provides driving force to the vision recognition unit 4, the second drive unit 7, or the first transmission unit 5. During the driving process, the second drive unit 7 drives the mobile vehicle 2 to move on the chassis 1, and the mobile vehicle 2 drives the first transmission unit 5 to move on the rack 12 in the first space 11. The vision recognition unit 4 transmits the acquired obstacle data information and movement data information to the control system through the control module 9. Thus, when working on the steel mesh, the robot is protected from the influence of the diameter and spacing of the steel bars, steel bar binding, and steel bar welding during movement, and its movement is not hindered during operation.

[0062] In a specific embodiment, combined with Figure 2 and Figure 3 The first transmission unit 5 includes a gear 51, a first connecting rod 52, and a first connecting member 53. The gear 51 meshes with a rack 12 within the first space 11. The first connecting rod 52 connects to both gears 51 and drives the gears 51 to move on the rack 12. A first power transmission line 81 is connected to the connecting rod, and the other end of the first power transmission line 81 is connected to a motor 8. The first connecting member 53 is connected to the first connecting rod 52.

[0063] For example, the first connecting rod 52 drives the gear 51 to rotate on the rack 12 in the first space 11, thereby enabling the gear 51 to move on the rack 12.

[0064] Exemplarily, the gear 51 rotates on the rack 12 in the first space 11, thereby driving the movement of the chassis 1.

[0065] In specific embodiments, in combination with Figure 2 and Figure 4 The first driving unit 6 comprises a support bottom plate 61, a first lifting member 62, a second lifting member 63, and a rotating member 64. The first lifting member 62 is arranged on the support bottom plate 61. The second lifting member 63 is arranged on the first lifting member 62 and is lifted and lowered on the first lifting member 62. The second lifting member 63 is connected with a second power transmission wire, and the other end of the second power transmission wire is connected to the motor 8. The rotating member 64 is sleeved on the outer surface of the second lifting member 63 and rotates perpendicularly to the axial direction of the second lifting member 63. The rotating member 64 is connected with a third power transmission wire 82, and the other end of the third power transmission wire 82 is connected to the motor 8.

[0066] In the present embodiment, the support bottom plate 61 moves below the middle part of the moving vehicle 2, so that the walking robot on the reinforcement mesh can keep balance when it contacts the working surface during the lifting or rotating operation. When the second lifting member 63 is lifted and lowered on the first lifting member 62, the chassis 1 and the moving vehicle 2 are lifted or lowered.

[0067] After the rotating member 64 rotates on the surface of the second lifting member 63, the rotating member 64 rotates the moving vehicle 2 and the chassis 1, so that the moving vehicle 2 moves in the opposite direction.

[0068] After the control module 9 receives the rotating operation instruction sent by the control system, the motor 8 controls the second lifting member 63 to rise, so that the walking robot on the reinforcement mesh is lifted above the working surface. The rotating member 64 drives the chassis 1 and the moving vehicle 2 to rotate, and after the rotating member 64 rotates to the target angle, the second lifting member 63 is lowered to stop when the bottom surface of the chassis 1 contacts the working surface, thereby completing the rotation of the chassis 1 and the moving vehicle 2.

[0069] In specific embodiments, in combination with Figure 2 and FIG. 4, the second driving unit 7 comprises a second connecting rod 71, a third connecting rod 73, a second connecting member 74, a driving wheel 72, and a driven wheel 75. The second connecting rod 71 is arranged in the moving vehicle 2 and is connected with the motor 8. The third connecting rod 73 is arranged in the moving vehicle 2 and is connected with the first connecting member 53. The second connecting member 74 is arranged on the third connecting rod 73, and the end of the second connecting member 74 away from the third connecting rod 73 is connected to the inner surface of the moving vehicle 2. The driving wheel 72 is arranged at the two ends of the second connecting rod 71, respectively. The driven wheel 75 is arranged at the two ends of the third connecting rod 73, respectively.

[0070] In the embodiment, the driving wheels 72 and the driven wheels 75 are located at the bottom of the mobile vehicle 2, for keeping the balance of the mobile vehicle 2, and the driving wheels 72 drive the driven wheels 75 to rotate, thereby controlling the movement of the mobile vehicle 2.

[0071] The third connecting rod 73 is used for connecting the gear 51 and the driven wheels 75.

[0072] In the embodiment, as shown in Figure 1 , the visual recognition unit 4 comprises a recognition support frame 41, a data acquisition device 42, and a protective piece 43. The recognition support frame 41 is connected with the mobile vehicle 2. The data acquisition device 42 is arranged on the recognition support frame 41 and acquires the obstacle data information and the movement data information. The protective piece 43 is arranged on the data acquisition device 42.

[0073] In the embodiment, the data acquisition device 42 is any one of a camera and a sensor.

[0074] The protective piece 43 protects the data acquisition device 42.

[0075] In the embodiment, in combination with Figure 2 , Figure 3 and Figure 4 , under the driving of the motor 8: the driving wheels 72 drive the second connecting rod 71, the third connecting rod 73, and the driven wheels 75 to move; and the third connecting rod 73 drives the first connecting piece 53, the first connecting rod 52, and the gear 51 to move.

[0076] In the embodiment, in combination with Figure 2 , Figure 3 and Figure 4 , when the gear 51 moves to the gear 51 located at the end of the first space 11: the driving wheels 72 stop moving, the second lifting piece 63 is lifted, and the motor 8 drives the first connecting rod 52 to rotate the gear 51 through the first power transmission line 81, thereby driving the chassis 1 and the mobile vehicle 2 to move.

[0077] In the embodiment, the gear 51 is moved towards the other end of the first space 11.

[0078] In order to facilitate the connection of external steel bar processing equipment, in the embodiment, in combination with Figure 1 and Figure 2 , the mobile vehicle 2 is provided with an external equipment connecting piece 3 for connecting with the steel bar processing equipment.

[0079] In the embodiment, the steel bar processing equipment includes but is not limited to a steel bar detection equipment, a steel bar binding equipment, etc.

[0080] In the present application, the control module 9 is located beside the motor 8 inside the mobile vehicle 2, for receiving operation instructions sent by the control system, transmitting the instructions to the motor 8 to control the first driving unit 6, the second driving unit 7, the visual identification unit 4, and the first transmission unit 5 to complete the operation instructions and receive data transmitted by the visual identification unit 4, and upload the data to the control system.

[0081] In the present application, after the control module 9 receives the moving operation instruction sent by the control system, the motor 8 controls the rotation of the driving wheel 72 to move the mobile vehicle 2 forward, and at the same time, the gear 51 moves with the mobile vehicle 2, when the gear 51 contacts the front end of the rack 12, the mobile vehicle 2 stops moving, the second lifting part 63 performs the lifting operation, the chassis 1 and the mobile vehicle 2 are lifted above the working surface and stop lifting, the motor 8 controls the rotation of the gear 51 to drive the chassis 1 to move forward until the gear 51 contacts the rear end of the rack 12, then the rotation of the gear 51 stops, the second lifting part 63 performs the landing operation, the bottom surface of the chassis 1 drops to the working surface, the motor 8 controls the rotation of the driving wheel 72 to move the mobile vehicle 2 forward, and the process is repeated to realize the intelligent movement of the walking robot on the steel mesh.

[0082] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A robot for walking on a mesh of reinforcing bars, characterized in that It comprises: a chassis; a moving vehicle arranged on the chassis and moving on the chassis; two first spaces respectively arranged in the chassis and close to the long edges of the chassis; a rack arranged on the inner edge of each first space; a first transmission unit engaged with the rack and moving on the rack; a first driving unit simultaneously located in the chassis and the moving vehicle and lifting and rotating the chassis and the moving vehicle during driving; a second driving unit arranged in the moving vehicle to move the moving vehicle on the chassis; a visual recognition unit located on the top of the moving vehicle, acquiring obstacle data information around the chassis and the moving vehicle, providing a moving route and scanning and recording moving data information of a moving track during movement of the moving vehicle, and transmitting the obstacle data information and the moving data information to a control module, which signals to a control system; a motor located in the moving vehicle and electrically connected with the first driving unit, the second driving unit, the visual recognition unit, the first transmission unit and the control module; the first transmission unit comprises: a gear engaged with the rack in the first space; a first connecting rod connected with the two gears and driving the gears to move on the rack, the connecting rod being connected with a first power transmission line, the other end of the first power transmission line being connected to the motor; a first connecting piece connected with the first connecting rod; the first driving unit comprises: a support bottom plate; a first lifting piece arranged on the support bottom plate; a second lifting piece arranged on the first lifting piece and lifting on the first lifting piece, the second lifting piece being connected with a second power transmission line, the other end of the second power transmission line being connected to the motor; a rotating piece sleeved on the outer surface of the second lifting piece and rotating perpendicular to the axial direction of the second lifting piece, the rotating piece being connected with a third power transmission line, the other end of the third power transmission line being connected to the motor; the second driving unit comprises: a second connecting rod arranged in the moving vehicle and connected with the motor; a third connecting rod arranged in the moving vehicle and connected with the first connecting piece; a second connecting piece arranged on the third connecting rod and connected to the inner surface of the moving vehicle at the end of the second connecting piece away from the third connecting rod; a driving wheel arranged at each end of the second connecting rod; a driven wheel arranged at each end of the third connecting rod; when the gear moves to the end of the first space: the driving wheel stops moving, the second lifting piece rises, and the motor drives the first connecting rod to rotate the gear through the first power transmission line, driving the chassis to move.

2. The steel mesh walking robot according to claim 1, wherein the visual recognition unit comprises: a recognition support frame connected with the moving vehicle; Data acquisition equipment is arranged on the identification support frame, and acquires the obstacle data information and the movement data information; A protective piece is arranged on the data acquisition equipment.

3. The rebar-walking robot of claim 1, wherein, Under the drive of the motor: The driving wheel drives the second connecting rod, the third connecting rod and the driven wheel to move; The third connecting rod drives the first connecting piece, the first connecting rod and the gear to move.

4. The rebar-walking robot of claim 1, wherein, The moving vehicle is provided with an external equipment connecting piece for connecting with a reinforcing bar processing equipment.

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