Driving chassis and spraying robot

Abstract

The utility model belongs to the field of chassis, and particularly relates to a driving chassis and a spraying robot. Comprising a chassis; the driving module comprises steering wheels, the steering wheels are installed on the chassis, the number of the steering wheels is two or more, and the steering wheels are located at different positions of the chassis; the obstacle detection module is used for detecting whether an obstacle exists in the moving direction of the steering wheel or not; and the controller is electrically connected with the steering wheel and the obstacle detection module. The utility model provides a driving chassis and a spraying robot, and aims to solve the problem that a conventional driving chassis is easy to jolt on a complex ground due to poor flexibility of the conventional driving chassis.

Description

Technical Field

[0001] The utility model belongs to the field of chassis, and in particular relates to a driving chassis and a spraying robot. Background Art

[0002] The driving chassis system is an important part of the AGV vehicle, which usually includes the motor, reducer, transmission mechanism and control system. The motor is mainly used as a power source to provide driving force; the reducer is responsible for reducing the motor speed and increasing the torque to meet the movement requirements of the chassis; the transmission mechanism transmits the power of the motor to moving parts such as wheels or tracks; the control system is responsible for receiving instructions, controlling the operation of the motor, and realizing the motion control of the robot.

[0003] However, the conventional driving chassis has poor flexibility and cannot achieve flexible obstacle crossing. When the driving chassis is used on complex ground, the driving chassis has a high degree of bumpiness and cannot maintain a stable state. Therefore, when the driving chassis of the prior art is used on some equipment with high stability requirements, for example, when the driving chassis is used on a spraying robot, since obstacles are often piled up on the construction ground, the driving chassis will bump on the ground, causing the spraying robot to shake, and ultimately causing deviations in the spraying position. Utility Model Content

[0004] The utility model provides a driving chassis and a spraying robot, and aims to solve the problem that the conventional driving chassis has poor flexibility and is prone to bumping on complex ground.

[0005] In order to achieve the above object, the utility model provides a driving chassis, comprising

[0006] Chassis;

[0007] A driving module, wherein the driving module comprises a steering wheel, wherein the steering wheel is mounted on the chassis, and wherein two or more steering wheels are provided, and each steering wheel is located at a different position of the chassis;

[0008] An obstacle detection module, which is used to detect whether there is an obstacle in the direction of the steering wheel movement;

[0009] A controller is electrically connected to the steering wheel and the obstacle detection module.

[0010] In this solution, the obstacle detection module is used to detect whether there are obstacles in the moving path of the chassis. When the obstacle detection device detects an obstacle, the obstacle detection device feeds back information to the controller, and the controller can control the steering wheel to move forward or turn to avoid the obstacle and prevent the chassis from contacting the obstacle and causing unstable operation.

[0011] Preferably, in order to make the chassis run more smoothly, this solution further includes a shock absorber pump, which is arranged between the drive module and the chassis.

[0012] Although this solution can ensure that the chassis runs more stably by avoiding obstacles, obviously, some smaller obstacles will not be avoided. Therefore, when the chassis comes into contact with these smaller obstacles, the shock absorber pump can make the chassis run more smoothly.

[0013] Preferably, in order to make the center of gravity of the chassis lower and the chassis run more smoothly. At the same time, in order to reduce the height of the entire device and avoid collisions in positions with limited space. The top of the chassis in this solution is constructed with a sunken receiving groove.

[0014] In this solution, due to the construction of a sunken receiving groove, and the receiving groove can accommodate equipment. Obviously, when the equipment is accommodated inside the receiving groove, the center of gravity of the entire chassis is lowered, and at the same time, the height of the equipment is also reduced.

[0015] Preferably, in order to ensure that the center of gravity of the chassis is in the middle and avoid the chassis tipping over due to excessive weight on the edge. The receiving groove in this solution is arranged in the middle of the chassis.

[0016] Or, in order to avoid the chassis tipping over due to excessive weight on the edge. This solution is configured with three receiving grooves, which are respectively located in the middle and at both ends of the chassis. Since there are receiving grooves at both ends and in the middle in this solution, obviously, when the receiving grooves at both ends and in the middle are all filled with equipment, the two ends of the chassis will not tip over due to local overweight.

[0017] Preferably, in order to make the accommodation height of the equipment in the receiving groove lower, the receiving groove in this solution is a through groove, and the bottom of the receiving groove communicates with the outside.

[0018] In this solution, when the equipment is accommodated inside the receiving groove, since the bottom of the equipment can extend to the bottom of the chassis through the receiving groove, obviously, the overall height of the equipment can be reduced.

[0019] Preferably, in order to reduce the weight of the chassis, this solution preferably uses a rectangular frame for the chassis.

[0020] When the chassis is of a frame structure, obviously, compared with a chassis that is entirely plate-shaped, the weight reduction effect of the chassis is more obvious.

[0021] Preferably, in order to detect whether there are obstacles in the running direction of the chassis, the obstacle detection module in this solution is an ultrasonic detection device, a lidar detection device or an infrared detection device.

[0022] This solution can detect obstacles by setting up ultrasonic detection devices, lidar detection devices, or infrared detection devices, avoiding collisions between obstacles and the chassis.

[0023] Preferably, in order to make the detection of obstacles more accurate, several obstacle detection modules are provided in this solution.

[0024] This solution sets up several obstacle detection modules. Obviously, with the cooperation of multiple obstacle detection modules, the detection of obstacles is more accurate.

[0025] At the same time, the obstacle detection modules in this solution are installed on the chassis. By installing the obstacle detection modules on the chassis, the obstacle detection modules can more accurately determine whether there are obstacles on the running path of the chassis, with higher detection accuracy.

[0026] To achieve stable spraying in the target area, in the second aspect of the present utility model, a spraying robot is provided, including an extension mechanism, a nozzle, and the above-mentioned driving chassis;

[0027] The extension mechanism is installed on the driving chassis, and the nozzle is installed on the extension mechanism.

[0028] In this solution, by applying the driving chassis to the spraying robot, the driving chassis moves smoothly and has a strong obstacle avoidance ability, ensuring that when the spraying robot is performing spraying operations, the spraying robot will not jolt and affect the spraying accuracy.

[0029] Preferably, since the nozzle of the spraying robot needs to be raised to ensure that the nozzle can accurately move to the target position. Therefore, the higher the extendable distance of the extension mechanism, the better. And since when the extension mechanism can extend higher, the height of the extension mechanism itself will be higher. The height of the extension mechanism will affect the spraying robot's entry into the household door and into the elevator.

[0030] To solve the above problems, the extension mechanism in this solution is installed at the receiving groove.

[0031] In this solution, since the extension mechanism is installed at the receiving groove, obviously, the height of the extension mechanism can be reduced. After the height of the extension mechanism is reduced, the spraying robot is more likely to enter the household door and into the elevator.

[0032] The beneficial effect of the present utility model is that: in this solution, the obstacle detection module detects whether there are obstacles on the moving path of the chassis. When the obstacle detection device detects an obstacle, the obstacle detection device feeds back the information to the controller, and the controller can control the steering wheels to move forward or turn to achieve obstacle avoidance and avoid the problem of unstable operation caused by the chassis contacting the obstacle. Description of the Drawings

[0033] Figure 1 It is a schematic structural diagram of a driving chassis.

[0034] Figure 2 It is a top view of the driving chassis.

[0035] Figure 3 It is a top view of the driving chassis when only one accommodation groove is provided.

[0036] Figure 4 It is a side view of the driving chassis.

[0037] Figure 5 It is a schematic diagram of the spraying robot in Embodiment 2.

[0038] The reference numerals include: chassis 1, accommodation groove 11, mounting portion 12, driving module 2, steering wheel 21, universal wheel 22, shock absorption pump 3, extension mechanism 4, first lifting cylinder 41, second lifting cylinder 42, and connecting member 43. Detailed implementation manners

[0039] In order to make the objectives, technical solutions and advantages of the embodiments more clear and understandable, the following further elaborates on the present utility model in conjunction with the accompanying drawings and embodiments. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numerals in different drawings represent the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with the present disclosure. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0040] It should be noted that all actions of obtaining signals, information or data in this application are carried out on the premise of complying with the corresponding data protection regulations and policies of the country where it is located and obtaining authorization from the owner of the corresponding device.

[0041] In the present disclosure, unless otherwise stated, the orientation terms such as "inside, outside" are defined according to the own contour of the corresponding component parts. The terms such as "first, second" used in the present disclosure are used to distinguish one element from another and do not have sequence and importance.

[0042] Embodiment 1

[0043] Basically as shown in the attached Figure 1 figure, a driving chassis has strong obstacle avoidance ability and high flexibility, can effectively avoid the collision between the chassis 1 and obstacles, and the chassis 1 is more stable.

[0044] In the embodiment of the present disclosure, the driving chassis includes a chassis 1, a driving module 2, an obstacle detection module and a controller. As Figure 1As shown, the chassis 1 in the embodiments of the present disclosure is a rectangular frame, which is composed of several horizontally and vertically arranged support beams. An L-shaped connecting piece is arranged between adjacent support beams, and the adjacent support beams are stably connected together through the L-shaped connecting piece. During implementation, the support beam and the L-shaped connecting piece can be connected by configuring fasteners, or alternatively, the support beam and the L-shaped connecting piece can be welded together.

[0045] Meanwhile, in the embodiments of the present disclosure, the interior of the support beam is preferably in a hollow state, thereby reducing the weight of the entire chassis 1. In addition, since the chassis 1 is in a frame form, the weight of the chassis 1 is further reduced.

[0046] In the embodiments of the present disclosure, a connecting plate is arranged at the edge of the chassis 1. The connecting plate can be used for installing the driving module 2, and at the same time, the connecting plate further ensures that the support beams at the edge of the chassis 1 are more stably connected.

[0047] As Figure 1 and Figure 2 shown, in the frame-shaped chassis 1 in the embodiments of the present disclosure, a sunken accommodation groove 11 is constructed in the middle of the frame. The accommodation groove 11 is rectangular, and other devices can be installed and accommodated inside the accommodation groove 11. When other devices are accommodated inside the accommodation groove 11, the center of gravity of the entire driving chassis is lower, and the driving chassis is more stable. At the same time, when the device is accommodated inside the accommodation groove 11, obviously, the height of the entire device can also be lower, so as to be adapted to move in positions with limited height (such as passenger elevators, household doors, and truck compartments).

[0048] It should be noted that: in the embodiments of the present disclosure, it is more preferably that the bottom of the accommodation groove 11 is directly in communication with the lower part of the chassis 1, that is to say, the accommodation groove 11 is a through groove, and the accommodation groove 11 penetrates through the chassis 1. As Figure 1 and Figure 2 shown, the internal space of the accommodation groove 11 is deeper. Of course, since the accommodation groove 11 is a through groove, when the device is accommodated in the accommodation groove 11, the device is easily collided with the outside. Therefore, in some embodiments, the accommodation groove 11 may not be a through setting, and the bottom of the accommodation groove 11 is not in a through state.

[0049] In the embodiments of the present disclosure, three accommodation grooves 11 are provided, as Figure 1 shown, and are respectively located at the left and right ends and the middle of the top of the chassis 1. All three accommodation grooves 11 can be used for accommodating devices, so more devices can be accommodated inside the accommodation groove 11. At the same time, since the three accommodation grooves 11 are respectively located at the left and right ends and the middle of the top of the chassis 1, obviously, when all three accommodation grooves 11 are accommodating devices, the center of gravity of the entire driving chassis can be kept at the same horizontal state as much as possible, which can further increase the stability of the driving chassis.

[0050] In order to install the device accommodated in the accommodation groove 11, in the embodiments of the present disclosure, a cross beam is installed in the accommodation groove 11. The device can be installed on the installation part 12 formed by the combination of the cross beam and the support beam. The installation part 12 is integrally rectangular, and an installation plate can be configured on its top, such as Figure 1 as shown. When the device is installed on the installation part 12, the device can be kept stable and can be stably accommodated in the accommodation groove 11.

[0051] It should be noted that: in the embodiments of the present disclosure, three accommodation grooves 11 are provided. However, obviously, in some other embodiments, only one accommodation groove 11 is provided, and the accommodation groove 11 is only provided in the middle, such as Figure 3 as shown. No accommodation grooves 11 are provided on both sides of the accommodation groove 11, but they are set as planes.

[0052] such as Figure 1 as shown, in the embodiments of the present disclosure, the drive module 2 for driving the chassis to move includes steering wheels 21 and universal wheels 22. Two steering wheels 21 are provided, and two universal wheels 22 are also provided. The two steering wheels 21 and the two universal wheels 22 are arranged in a rectangular distribution. And the two steering wheels 21 and the two universal wheels 22 are arranged in a cross manner. For example: at the front end of the chassis 1, a steering wheel 21 is provided on the left side of the front end, a universal wheel 22 is provided on the right side of the front end, a universal wheel 22 is provided on the left side of the rear end, and a steering wheel 21 is provided on the right side of the rear end. By providing two steering wheels 21, each steering wheel 21 can be independently driven and rotated. Therefore, when it is necessary to avoid obstacles, the steering wheel 21 can adjust the chassis 1 more flexibly. Of course, it should be noted that: in some other embodiments, the universal wheels 22 may not be configured, but four steering wheels 21 are provided at the same time. The four steering wheels 21 are arranged in a rectangle at the bottom of the chassis 1. Through the four steering wheels 21 arranged in a rectangle, flexible steering of the driving bottom plate is realized.

[0053] At the same time, in order to ensure that the movement of the chassis 1 is more stable, in the embodiments of the present disclosure, a shock absorption pump 3 is further included, such as Figure 4 as shown. Four shock absorption pumps 3 are provided, and the four shock absorption pumps 3 are arranged in a rectangle. The four shock absorption pumps 3 are respectively adapted to the steering wheels 21 and the universal wheels 22. That is, the steering wheels 21 and the universal wheels 22 are installed on the bottom of the chassis 1 through the shock absorption pumps 3. Through the shock absorption pumps 3, it is ensured that when the chassis 1 moves, the chassis 1 is more stable.

[0054] In order to enable the device to determine external obstacles, avoid collisions between the obstacles and the chassis 1, and make the chassis 1 run more smoothly. In the embodiments of the present disclosure, an obstacle detection module is provided on the chassis 1, which is not shown in the figure. In the embodiments of the present disclosure, the obstacle detection module can be an ultrasonic detection device, a lidar detection device or an infrared detection device in the prior art. The ultrasonic detection device detects whether there are obstacles in the moving direction of the chassis 1 through ultrasonic waves, the lidar detection device detects whether there are obstacles in the moving direction of the chassis 1 through radar, and the infrared detection device detects whether there are obstacles in the moving direction of the chassis 1 through infrared rays.

[0055] In order to ensure the accuracy of obstacle detection, in the embodiments of the present disclosure, obstacle detection modules can be provided in the four directions of the front, back, left and right of the chassis 1, so as to ensure that the chassis 1 can accurately avoid obstacles. Of course, it should be noted that: in the embodiments of the present disclosure, the obstacle detection module is provided on the chassis 1. However, in some embodiments, the obstacle detection module can also be provided in the equipment on the chassis 1, as long as the obstacle detection module can normally implement obstacle detection.

[0056] In the embodiments of the present disclosure, the obstacle detection module and the steering wheel 21 are both electrically connected to the controller, and the controller can be a PLC control module, a single-chip microcomputer control module or an industrial computer control module in the prior art, etc. The controller is not shown in the figure.

[0057] The following is a more detailed description through specific embodiments: During the movement of the chassis 1, the obstacle detection module detects the obstacles outside the chassis 1 and sends the corresponding information to the controller. When an obstacle is detected, the controller can control the steering wheel 21 to turn flexibly, so as to avoid the obstacle and prevent the chassis 1 from colliding with the obstacle or falling into the groove, and the chassis 1 runs more stably.

[0058] Embodiment 2

[0059] The embodiments of the present disclosure disclose a spraying robot, which includes the driving chassis, the extension mechanism 4 and the nozzle in Embodiment 1.

[0060] In the embodiments of the present disclosure, the extension mechanism 4 is installed on the driving chassis, and then the nozzle is installed on the extension mechanism 4. In the embodiments of the present disclosure, the extension mechanism 4 is used to extend to the position to be sprayed, and the nozzle is installed on the extension mechanism 4, so the nozzle can accurately move to the spraying position to achieve accurate spraying at the position to be sprayed.

[0061] Such as Figure 5As shown in the figure, the extension mechanism 4 in the embodiments of the present disclosure includes a first lifting cylinder 41, a second lifting cylinder 42, and a connecting member 43. The bottom of the first lifting cylinder 41 is installed on the installation part 12 of the driving chassis. During implementation, it can be fixedly installed on the mounting plate of the fixed part by welding or configuring fasteners. The top of the first lifting cylinder 41 is fixedly connected to the first end of the connecting member 43, and the second lifting cylinder 42 is connected to the second end of the connecting member 43.

[0062] In the embodiments of the present disclosure, the connecting member 43 extends vertically downward, so that the second lifting cylinder 42 is arranged on the side of the first lifting cylinder 41. Moreover, in the embodiments of the present disclosure, the bottom of the second lifting cylinder 42 is received inside the receiving groove 11. When the second lifting cylinder 42 is received inside the receiving groove 11, the installation height of the second lifting cylinder 42 is reduced, and the second lifting cylinder 42 can be raised to a higher distance within a limited height.

[0063] In the embodiments of the present disclosure, the nozzle can be a nozzle for spraying in the prior art, and the nozzle can be adaptively provided with a control system, a supply system, etc. The nozzle can be directly fixedly installed on the top of the second lifting mechanism, and the nozzle is not shown in the figure. Alternatively, a robotic arm for fine adjustment can also be configured on the top of the second lifting mechanism, and the nozzle is then installed at the end of the robotic arm. The embodiments of the present disclosure do not make any limitations.

[0064] The above are only the embodiments of the present invention. Common knowledge such as specific structures and characteristics known in the solutions is not described in detail here. It should be noted that for those skilled in the art, without departing from the structure of the present invention, several deformations and improvements can still be made, and these should also be regarded as the protection scope of the present invention, and these will not affect the implementation effect of the present invention and the practicability of the patent. The protection scope required by this application should be subject to the content of its claims, and the specific implementation manners described in the specification can be used to explain the content of the claims.

Claims

1. A driving chassis, characterized in that: include Chassis; A driving module, wherein the driving module comprises a steering wheel, wherein the steering wheel is mounted on the chassis, and wherein two or more steering wheels are provided, and each steering wheel is located at a different position of the chassis; An obstacle detection module, which is used to detect whether there is an obstacle in the direction of the steering wheel movement; A controller is electrically connected to the steering wheel and the obstacle detection module.

2. The driving chassis according to claim 1, characterized in that: A shock absorbing pump is also included, and the shock absorbing pump is arranged between the driving module and the chassis.

3. The driving chassis according to claim 1, characterized in that: The top of the chassis is configured with a sunken receiving groove.

4. The driving chassis according to claim 3, characterized in that: The receiving groove is arranged in the middle of the chassis; or; The receiving grooves are configured in three numbers and are respectively located in the middle and at both ends of the chassis.

5. The driving chassis according to claim 3, characterized in that: The containing groove is a through groove, and the bottom of the containing groove is communicated with the outside.

6. The driving chassis according to claim 1 or 3, characterized in that: The chassis is a rectangular frame.

7. The driving chassis according to claim 1, characterized in that: The obstacle detection module is an ultrasonic detection device, a laser radar detection device or an infrared detection device.

8. The driving chassis according to claim 1 or 7, characterized in that: The obstacle detection modules are set to be several; and / or; The obstacle detection module is installed on the chassis.

9. A spraying robot, characterized in that: It comprises an extension mechanism, a nozzle and a driving chassis according to any one of claims 1 to 8; The extension mechanism is installed on the driving chassis, and the nozzle is installed on the extension mechanism.

10. The spraying robot according to claim 9, characterized in that: The extending mechanism is installed at the accommodating groove.

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