Anti-roll autonomous in-position chassis of indoor operation building robot

Abstract

Compared with an existing building robot chassis device, the anti-side-tipping autonomous in-position chassis of the indoor operation building robot can provide four-wheel driving force, support multi-angle steering adjustment of a single wheel set, adjust the levelness of equipment according to the requirement of the access equipment and the environment of a parking road surface, and improve the safety of the equipment. The operation stability is improved.

Description

Technical Field

[0001] The utility model relates to the field of construction robots, in particular to an anti-rollover autonomous positioning chassis of an indoor operation construction robot. Background Art

[0002] With the rapid development of modern industry, it has also been widely used in the field of construction equipment. For example: CN216759859U, a high-stability anti-tilt chassis for industrial robots. The utility model can maintain the stability of the chassis body as much as possible, thereby ensuring the stability of the robot during movement. The anti-tilt chassis described in the utility model is limited in the working scenarios it is suitable for. When it is on an irregular road surface, its structure cannot be adjusted in parallel. In contrast, the utility model can adjust the parallelism on irregular roads according to the needs of the top access equipment.

[0003] For example: CN220785977U, robot chassis and mobile robot, by opening multiple independent installation spaces on the body that are dispersed from the first end to the second end, it is beneficial to increase the space for installing the control system on the body, and arrange multiple modules of the control system in different installation spaces, which is convenient for disassembly, assembly and maintenance of each module, and effectively avoids electromagnetic interference between modules. This utility model focuses on the layout of electronic control components, and adopts a common structure on the market in the chassis driving direction. The applicable scenes are mostly environments with good ground environment. However, for scenes with slightly complex ground, steering and stability face great challenges. Summary of the invention

[0004] The purpose of the utility model is to provide an anti-rollover and autonomous positioning chassis for an indoor construction robot. Compared with the existing construction robot chassis device, it can provide four-wheel drive power and support multi-angle steering adjustment of a single wheel group. It can adjust the horizontality of the equipment according to the needs of the access equipment and the environment of the parking road surface, thereby improving the operation stability.

[0005] The purpose of the utility model is achieved through the following technical solutions:

[0006] An anti-rollover autonomous positioning chassis for an indoor construction robot is characterized by comprising a bridge assembly, a first chassis device, and a second chassis device, wherein the first chassis device and the second chassis device are both connected to the bridge assembly.

[0007] As a further optimization of the technical solution, the utility model provides an anti-roll autonomous positioning chassis for an indoor working construction robot, wherein the bridge assembly includes a bridge seat, a battery fixing plate, an electronic control component, and a spirit level, wherein the battery fixing plate and the spirit level are fixedly connected to the bridge seat, and the battery fixing plate is fixedly connected to the electronic control component.

[0008] As a further optimization of the technical solution, the utility model provides an anti-rollover autonomous positioning chassis for an indoor construction robot, wherein the first chassis device includes a shock-absorbing bracket A, a shock absorber A, a connecting seat A, a bracket A, a connecting shaft A, a bracket B, a connecting shaft B, a connecting rod shaft A, a bracket C, a motor wheel set A, an electric push rod A, an electric push rod B, a ball head bracket A, an electric push rod C, a non-standard ball joint push rod A, a ball head connecting rod A, a shock absorber B, a connecting seat B, a bracket D, a connecting shaft C, a bracket E, a connecting shaft D, a connecting rod shaft B, a bracket F, and a motor wheel set B. , wheel set limiting bracket A, fixing part A, electric push rod D, electric push rod E, ball head bracket B, electric push rod F, non-standard ball joint push rod B, ball head connecting rod B, wheel set limiting bracket B, fixing part B, among which, shock absorber A, bracket A, bracket C, electric push rod A, electric push rod B, shock absorber B, bracket D, bracket F, electric push rod D, electric push rod E are all rotatably connected with shock absorber bracket A, shock absorber A is rotatably connected with connecting seat A, connecting seat A is fixedly connected with bracket A, bracket A is rotatably connected with connecting shaft A, connecting shaft A and connecting shaft B are all Bracket B is rotatably connected, connecting shaft B is rotatably connected to connecting rod shaft A, connecting rod shaft A is rotatably connected to bracket C, motor wheel set A is rotatably connected to bracket B, output shafts of electric push rod A and electric push rod B are rotatably connected to bracket C, ball head bracket A and ball head bracket B are fixedly connected to shock absorber bracket A, ball head bracket A is rotatably connected to electric push rod C, electric push rod C is connected to non-standard ball joint push rod A, non-standard ball joint push rod A is rotatably connected to ball head connecting rod A, ball head connecting rod A is rotatably connected to bracket B, shock absorber B is rotatably connected to connecting seat B, connecting seat B is The bracket D is fixedly connected, the bracket D is rotatably connected to the connecting shaft C, the connecting shaft C and the connecting shaft D are both rotatably connected to the bracket E, the connecting shaft D is rotatably connected to the connecting rod shaft B, the connecting rod shaft B is rotatably connected to the bracket F, the motor wheel set B is rotatably connected to the bracket E, the fixing part A is fixedly connected to the motor wheel set B through the wheel set limiting bracket A, the output shafts of the electric push rod D and the electric push rod E are both rotatably connected to the bracket F, the ball head bracket B is rotatably connected to the electric push rod F, the electric push rod F is connected to the non-standard ball joint push rod B, and the non-standard ball joint push rod B is rotatably connected to the ball head connecting rod B.

[0009] As a further optimization of the technical solution, the utility model provides an anti-rollover and autonomous positioning chassis for an indoor working construction robot. The components contained in the second chassis device are the same as those of the first chassis device, the assembly method and sequence are the same as those of the first chassis device, and the operation sequence and functions realized are the same as those of the first chassis device.

[0010] The utility model provides an anti-rollover autonomous positioning chassis for an indoor working construction robot, which has the following beneficial effects: 1. Compared with the existing construction robot chassis device, it can provide four-wheel drive power and support multi-angle steering adjustment of a single wheel group; 2. It can adjust the horizontality of the equipment according to the needs of the access equipment and the environment of the parking road surface, thereby improving the operation stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The utility model is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0012] Figure 1 This is a schematic diagram of the overall structure of the utility model Figure 1 ;

[0013] Figure 2 This is a schematic diagram of the bridge assembly structure of the utility model Figure 1 ;

[0014] Figure 3 This is a schematic diagram of the first chassis structure of the utility model. Figure 1 ;

[0015] Figure 4 This is a schematic diagram of the first chassis structure of the utility model. Figure 2 ;

[0016] Figure 5 This is a schematic diagram of the first chassis structure of the utility model. Figure 3 ;

[0017] Figure 6 This is a schematic diagram of the first chassis structure of the utility model. Figure 4 ;

[0018] In the figure: bridge assembly 1; bridge seat 101; battery fixing plate 102; electronic control component 103; level 104; first chassis device 2; shock absorber bracket A201; shock absorber A202; connecting seat A203; bracket A204; connecting shaft A205; bracket B206; connecting shaft B207; connecting rod shaft A208; bracket C209; motor wheel set A210; electric push rod A211; electric push rod B212; ball head bracket A213; electric push rod C214; non-standard ball joint push rod A215; ball head connecting rod Rod A216; shock absorber B217; connecting seat B218; bracket D219; connecting shaft C220; bracket E221; connecting shaft D222; connecting rod shaft B223; bracket F224; motor wheel set B225; wheel set limiting bracket A226; fixing piece A227; electric push rod D228; electric push rod E229; ball head bracket B230; electric push rod F231; non-standard ball joint push rod B232; ball head connecting rod B233; wheel set limiting bracket B234; fixing piece B235; second chassis device 3. Specific embodiments

[0019] The utility model is further described in detail below in conjunction with the accompanying drawings.

[0020] The fixed connection described in this device refers to fixing by welding, threaded fixing, etc., and different fixing methods are used in combination with different usage environments. The rotating connection refers to baking the bearing on the shaft, providing a spring retaining ring groove on the shaft or the shaft hole, and clamping the elastic retaining ring in the retaining ring groove to achieve axial fixation of the bearing, realize rotation, or meshing rotation between gears. Specific embodiment one:

[0022] Combine the following Figure 1-6 To describe the present embodiment, an anti-rollover autonomous positioning chassis for an indoor construction robot comprises a bridge assembly 1, a first chassis device 2, and a second chassis device 3, wherein both the first chassis device 2 and the second chassis device 3 are connected to the bridge assembly 1. Specific embodiment 2:

[0024] Combine the following Figure 1-6 To describe this embodiment, this embodiment further describes Example 1. The bridge assembly 1 includes a bridge seat 101, a battery fixing plate 102, an electronic control component 103, and a spirit level 104. The battery fixing plate 102 and the spirit level 104 are both fixedly connected to the bridge seat 101, and the battery fixing plate 102 is fixedly connected to the electronic control component 103. Specific embodiment three:

[0026] Combine the following Figure 1-6Description of this embodiment. This embodiment further describes Example 1. The first chassis device 2 includes a shock-absorbing bracket A201, a shock absorber A202, a connecting seat A203, a bracket A204, a connecting shaft A205, a bracket B206, a connecting shaft B207, a connecting rod shaft A208, a bracket C209, a motor wheel group A210, an electric push rod A211, an electric push rod B212, a ball head bracket A213, an electric push rod C214, a non-standard ball joint push rod A215, a ball head connecting rod A216, a shock absorber B217, a connecting seat B218, a bracket D219, a connecting shaft C220, a bracket E221, a connecting shaft D222, a connecting rod shaft B223, a bracket F224, a motor wheel group B225, and a wheel group limit bracket. Bracket A226, fixing piece A227, electric push rod D228, electric push rod E229, ball head bracket B230, electric push rod F231, non-standard ball joint push rod B232, ball head connecting rod B233, wheel set limit bracket B234, fixing piece B235, wherein, shock absorber A202, bracket A204, bracket C209, electric push rod A211, electric push rod B212, shock absorber B217, bracket D219, bracket F224, electric push rod D228, electric push rod E229 are all rotatably connected to shock absorber bracket A201, shock absorber A202 is rotatably connected to connecting seat A203, connecting seat A203 is fixedly connected to bracket A204, bracket A204 is rotatably connected to connecting shaft A205, connecting shaft A205 and connecting shaft B207 are both rotatably connected to bracket B206, connecting shaft B207 is rotatably connected to connecting rod shaft A208, connecting rod shaft A208 is rotatably connected to bracket C209, motor wheel set A210 is rotatably connected to bracket B206, electric push rod A211 and electric push rod B212 have their output shafts rotatably connected to bracket C209, ball head bracket A213 and ball head bracket B230 are both fixedly connected to shock absorber bracket A201, ball head bracket A213 is rotatably connected to electric push rod C214, electric push rod C214 is connected to non-standard ball joint push rod A215, non-standard ball joint push rod A215 is rotatably connected to ball head connecting rod A216, ball head connecting rod A216 is rotatably connected to bracket B206, shock absorber B217 is connected to connecting rod The connecting seat B218 is rotatably connected, the connecting seat B218 is fixedly connected to the bracket D219, the bracket D219 is rotatably connected to the connecting shaft C220, the connecting shaft C220 and the connecting shaft D222 are both rotatably connected to the bracket E221, the connecting shaft D222 is rotatably connected to the connecting rod shaft B223, the connecting rod shaft B223 is rotatably connected to the bracket F224, the motor wheel group B225 is rotatably connected to the bracket E221, the fixing piece A227 is fixedly connected to the motor wheel group B225 through the wheel group limiting bracket A226, the output shafts of the electric push rod D228 and the electric push rod E229 are both rotatably connected to the bracket F224, the ball head bracket B230 is rotatably connected to the electric push rod F231, and the electric push rod F231 is connected to the non-standard ball joint push rod B232,The non-standard ball joint push rod B232 is rotatably connected to the ball head connecting rod B233.

[0027] Combine the following Figure 1-6 To explain this embodiment, this embodiment further explains the first embodiment. The components contained in the second chassis device 3 are the same as those of the first chassis device 2, the assembly method and sequence thereof are the same as those of the first chassis device 2, and the operation sequence and functions realized are the same as those of the first chassis device 2.

[0028] The utility model is an anti-rollover autonomous positioning chassis for indoor construction robots, and its beneficial effects are as follows: the entire device of the utility model is provided with energy by an electric control component 103, wherein the electric control component 103 is a general term for battery components, control components, and electronic components, and is connected to the upper device of the working robot via the top plate of the bridge seat 101, and the first chassis device 2 and the second chassis device 3 are simultaneously connected to the front and rear ends of the bridge seat 101, respectively, and the device is driven by the first chassis device 2 and the second chassis device 3. Because the first chassis device 2 and the second chassis device 3 have the same structure, the operating principle and the role they play are completely the same, so the operating principle and role of the first chassis device 2 in the device are described in detail here, and when the device needs to move forward and backward, the motor is started synchronously The wheel group A210 and the motor wheel group B225 are controlled by the electronic control component 103 to rotate the motor of the wheel group in the forward and reverse directions. At the same time, the motor wheel group in the second chassis device 3 is driven as above to drive the entire equipment to operate. When the motor wheel group A210 and the motor wheel group B225 need to turn, the electric push rod C214 and the electric push rod F231 are started at the same time. When the electric push rod C214 is started, its output end drives the non-standard ball joint push rod A215 to extend. When it is extended, it drives the bracket B206 to rotate along the connecting shaft A205 and the connecting shaft B207 through the ball head connecting rod A216. When the bracket B206 rotates, it drives the motor wheel group A210 to rotate. When the electric push rod F231 is started, its output end drives the non-standard ball joint push rod B232 to extend. When it is extended, it drives the non-standard ball joint push rod B232 to extend. Rod B233 drives bracket E221 to rotate along connecting shaft C220 and connecting shaft D222, and bracket E221 drives motor wheel group B225 to rotate. At this time, motor wheel group A210 and motor wheel group B225 rotate synchronously, and the motor wheel group in the second chassis device 3 automatically or manually adjusts whether to follow the rotation according to the actual situation on site, so as to control the turning radius of the equipment. Of course, if it is necessary to rotate in the other direction, the output ends of electric push rod C214 and electric push rod F231 are driven to retract backwards. When the equipment travels to the operating point, the first chassis device 2 and the second chassis device 3 are adjusted according to the parking road environment and the stability requirements of the upper robot. Taking the first chassis device 2 as an example, when the entire equipment is in an irregular tilt When the level meter 104 detects the specific parameters, the parameters are then sent to the electronic control component 103, and then the electronic control component 103 issues a control command to the first chassis device 2, and simultaneously starts the electric push rod A211 and the electric push rod B212, wherein the output shafts of the electric push rods A211 and the electric push rods B212 synchronously extend and retract to drive the bracket C209 to rotate along the shock-absorbing bracket A201, when the bracket C209 rotates, the connecting shaft B207 is driven to rotate along the connecting rod shaft A208, the connecting shaft B207 drives the connecting shaft A205 to rotate through the bracket B206, the connecting shaft A205 drives the bracket A204 to rotate along the shock-absorbing bracket A201, when the bracket A204 rotates, the shock absorber A202 is driven to extend and retract through the connecting seat A203,The purpose is to provide damping and shock absorption protection for the motor wheel group A210 when it moves upward or downward, start the electric push rod D228 and the electric push rod E229, and the output end thereof drives the bracket F224 to rotate along the shock-absorbing bracket A201 through telescopic movement, and the bracket F224 drives the connecting shaft D222 to rotate through the connecting rod shaft B223, and the connecting rod shaft B223 drives the bracket E221 to rotate along with the bracket F224 through the connecting shaft D222, and the connecting shaft D222 drives the connecting shaft C220 to rotate through the bracket E221, and when the bracket E221 rotates, it drives the electric push rod D228 and the electric push rod E229 to rotate along the shock-absorbing bracket A201. The wheel group B225 rotates, raising or lowering the lateral height of the bridge seat 101. The bracket E221 drives the bracket D219 to rotate along the shock-absorbing bracket A201 through the connecting shaft C220. When the bracket D219 rotates, it drives the shock absorber B217 to telescopically move through the connecting seat B218, providing damping and shock-absorbing protection for the motor wheel group B225 when it is raised or lowered. At the same time, the motor wheel group in the second chassis device 3 synchronously adjusts its height. The horizontality of the bridge seat 101 is detected by the level meter 104 to meet the actual needs of the upper robot.

[0029] Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by ordinary technicians in this technical field within the essential scope of the present invention also fall within the protection scope of the present invention.

Claims

1. An anti-rollover autonomous positioning chassis for an indoor construction robot, characterized in that: It comprises a bridge assembly (1), a first chassis device (2) and a second chassis device (3), wherein the first chassis device (2) and the second chassis device (3) are both connected to the bridge assembly (1).

2. The anti-rollover autonomous positioning chassis of an indoor construction robot according to claim 1, characterized in that: The bridge assembly (1) comprises a bridge seat (101), a battery fixing plate (102), an electric control component (103), and a spirit level (104), wherein the battery fixing plate (102) and the spirit level (104) are both fixedly connected to the bridge seat (101), and the battery fixing plate (102) is fixedly connected to the electric control component (103).

3. The anti-rollover autonomous positioning chassis of an indoor construction robot according to claim 1, characterized in that: The first chassis device (2) comprises a shock-absorbing bracket A (201), a shock absorber A (202), a connecting seat A (203), a bracket A (204), a connecting shaft A (205), a bracket B (206), a connecting shaft B (207), a connecting rod shaft A (208), a bracket C (209), a motor wheel set A (210), an electric push rod A (211), an electric push rod B (212), a ball head bracket A (213), an electric push rod C (214), a non-standard ball joint push rod A (215), a ball head connecting rod A (216), a shock absorber B (217), a connecting seat B (218), a bracket D (219), a connecting shaft C (220), a bracket E (221), a connecting shaft D (222), a connecting rod shaft B (223 ), bracket F (224), motor wheel group B (225), wheel group limiting bracket A (226), fixing piece A (227), electric push rod D (228), electric push rod E (229), ball head bracket B (230), electric push rod F (231), non-standard ball joint push rod B (232), ball head connecting rod B (233), wheel group limiting bracket B (234), fixing piece B (235), wherein the shock absorber A (202), bracket A (204), bracket C (209), electric push rod A (211), electric push rod B (212), shock absorber B (217), bracket D (219), bracket F (224), electric push rod D (228), electric push rod E (229) are all connected with the shock absorber bracket A (2 01) is rotatably connected, the shock absorber A (202) is rotatably connected to the connecting seat A (203), the connecting seat A (203) is fixedly connected to the bracket A (204), the bracket A (204) is rotatably connected to the connecting shaft A (205), the connecting shaft A (205) and the connecting shaft B (207) are both rotatably connected to the bracket B (206), the connecting shaft B (207) is rotatably connected to the connecting rod shaft A (208), the connecting rod shaft A (208) is rotatably connected to the bracket C (209), the motor wheel group A (210) is rotatably connected to the bracket B (206), the output shafts of the electric push rod A (211) and the electric push rod B (212) are both rotatably connected to the bracket C (209), the ball head bracket A (213) and the ball head bracket B (230) are both The shock absorber bracket A (201) is fixedly connected, the ball head bracket A (213) is rotatably connected to the electric push rod C (214), the electric push rod C (214) is connected to the non-standard ball joint push rod A (215), the non-standard ball joint push rod A (215) is rotatably connected to the ball head connecting rod A (216), the ball head connecting rod A (216) is rotatably connected to the bracket B (206), the shock absorber B (217) is rotatably connected to the connecting seat B (218), the connecting seat B (218) is fixedly connected to the bracket D (219), the bracket D (219) is rotatably connected to the connecting shaft C (220), the connecting shaft C (220) and the connecting shaft D (222) are both rotatably connected to the bracket E (221), and the connecting shaft D (222) is rotatably connected to the connecting rod shaft B (223).The connecting rod shaft B (223) is rotatably connected to the bracket F (224), the motor wheel group B (225) is rotatably connected to the bracket E (221), the fixing member A (227) is fixedly connected to the motor wheel group B (225) through the wheel group limiting bracket A (226), the output shafts of the electric push rod D (228) and the electric push rod E (229) are rotatably connected to the bracket F (224), the ball head bracket B (230) is rotatably connected to the electric push rod F (231), the electric push rod F (231) is connected to the non-standard ball joint push rod B (232), and the non-standard ball joint push rod B (232) is rotatably connected to the ball head connecting rod B (233).

4. The anti-rollover autonomous positioning chassis of an indoor construction robot according to claim 1, characterized in that: The components contained in the second chassis device (3) are the same as those of the first chassis device (2), its assembly method and sequence are the same as those of the first chassis device (2), and its operating sequence and realized functions are the same as those of the first chassis device (2).

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