Chassis structure of leveling robot

Abstract

The utility model discloses a chassis structure of a leveling robot. The chassis structure comprises a line patrol bin, steering driving mechanisms are arranged at the front end and the rear end of the interior of the line patrol bin, each steering driving mechanism comprises a motor bin, a connecting handle and a driving handle, the motor bins are symmetrically and rotationally connected to the interior of the line patrol bin, supporting columns are fixedly connected to the upper ends of the motor bins, and the connecting handles are fixedly connected to the upper ends of the supporting columns; the ends, close to the center of the line patrol bin, of the connecting handles are fixedly connected with connecting shafts, every two transversely adjacent connecting shafts are rotationally connected with the same driving handle, and the ends, away from the center of the line patrol bin, of the motor bins are rotationally connected with rotating shafts. The four moving wheels are driven by the two steering engines to steer, so that differential steering is more stable, the slipping condition caused by differential steering is avoided, and the environmental adaptability problem of the whole machine on a flow cast-in-place concrete ground and a double-layer reinforcing mesh is solved.

Description

Technical Field

[0001] The utility model relates to the technical field of leveling robot auxiliary equipment, in particular to a chassis structure of a leveling robot. Background Art

[0002] The existing ground maintenance work after concrete leveling is mainly artificial covering moisture retention or disc compaction and grinding to ensure that the concrete floor does not have quality problems such as cracking due to lack of water. Therefore, the leveling robot was born. The chassis structure of some existing leveling robots has certain problems in the environmental adaptability of the fluid cast-in-place concrete floor and the double-layer steel mesh. The chassis structure of some leveling robots adopts a method without auxiliary units, and the steering of the leveling robot is achieved simply by speed difference. In some environments, the speed difference of the motor may cause the moving wheel to slip, thereby affecting the steering stability of the leveling robot. Utility Model Content

[0003] The technical problem to be solved by the utility model is to overcome the existing defects and provide a chassis structure of a leveling robot. Two servos drive the four moving wheels to turn, making the differential steering more stable and avoiding the slipping caused by differential steering. The problem of the environmental adaptability of the whole machine in fluid cast-in-place concrete floors and double-layer steel meshes is solved, and the problems in the background technology can be effectively solved.

[0004] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a chassis structure of a leveling robot, including a line patrol warehouse;

[0005] Line patrol bin: Steering drive mechanisms are provided at both the front and rear ends thereof, and the steering drive mechanism comprises a motor bin, a connecting handle and a driving handle. The motor bin is symmetrically rotatably connected to the interior of the line patrol bin, and the upper end of the motor bin is fixedly connected to a pillar, and the upper end of the pillar is fixedly connected to a connecting handle, and the end of the connecting handle close to the center of the line patrol bin is fixedly connected to a connecting shaft, and two laterally adjacent connecting shafts are rotatably connected to the same driving handle, and the end of the motor bin away from the center of the line patrol bin is rotatably connected to a rotating shaft, and the end of the rotating shaft away from the center of the line patrol bin is fixedly connected to a moving wheel, and the four moving wheels are driven to turn by two steering gears, so that the differential steering is more stable, and the slipping caused by the differential steering is avoided, which solves the environmental adaptability problem of the whole machine on the fluid cast-in-place concrete floor and the double-layer steel mesh.

[0006] Furthermore, a controller is provided on the right side of the line patrol bin, a battery pack is provided at the center of the bottom wall of the line patrol bin, and an input end of the controller is electrically connected to an output end of the battery pack to control various electrical appliances.

[0007] Furthermore, the steering drive mechanism also includes a rotating shaft, which is symmetrically connected to the front and rear ends of the line patrol bin, and the upper ends of the rotating shafts are fixedly connected to the lower ends of the vertically adjacent motor bins. The rotating shafts coincide with the central axes of the vertically adjacent pillars to achieve the rotation of the auxiliary motor bin.

[0008] Furthermore, the steering drive mechanism also includes a servo and a drive shaft, the drive shafts are fixedly connected to the middle parts of the two drive handles, the servos are respectively arranged at the front and rear ends of the line patrol bin, and the ends of the servo movable handles close to the center of the line patrol bin are rotatably connected to the longitudinally adjacent drive shafts, and the input ends of the servo are electrically connected to the output ends of the controller to provide driving force for the synchronous steering of the two laterally adjacent moving wheels.

[0009] Furthermore, symmetrically distributed infrared sensors are provided at the lower end of the line patrol bin, and the infrared sensors are bidirectionally electrically connected to the controller to provide assistance for the leveling robot to move along the planned route.

[0010] Furthermore, a motor is provided inside the motor bin, and the output shaft of the motor is fixedly connected to one end of the laterally adjacent rotating shaft close to the center of the line patrol bin, and the input end of the motor is electrically connected to the output end of the controller to provide driving force for the rotation of the moving wheel.

[0011] Furthermore, the upper end of the line patrol bin is fixedly connected to a connecting frame, the upper end of the connecting frame is provided with evenly distributed connecting holes 1, the rear end of the line patrol bin is fixedly connected to a connecting plate, the rear end of the connecting plate is provided with connecting holes 2, which facilitates the stable connection of the chassis structure of the leveling robot with other structures.

[0012] Compared with the prior art, the beneficial effects of the utility model are: the chassis structure of the leveling robot has the following advantages:

[0013] 1. Control the motors corresponding to the two adjacent moving wheels in the horizontal direction to rotate, so that there is a speed difference between the two adjacent motors in the horizontal direction. At the same time, the corresponding parallelogram mechanism is driven by the servo to make the two adjacent moving wheels in the horizontal direction to deviate synchronously, effectively avoiding the slipping of the moving wheels, so that the leveling machine can travel along the prescribed route more stably.

[0014] 2. Four-wheel differential chassis, while the infrared sensor provides real-time trajectory information for the leveling robot, which can control the robot to work along the planned path in real time, solving the problem of the whole machine's environmental adaptability to the fluid cast-in-place concrete floor and double-layer steel mesh. The robot can turn and execute forward and backward, and can complete the corresponding movements well. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the structure of the utility model;

[0016] Figure 2 It is a schematic diagram of the cross-sectional structure inside the utility model;

[0017] Figure 3 This is an enlarged structural diagram of point A of the utility model.

[0018] In the figure: 1 patrol compartment, 2 steering drive mechanism, 21 steering gear, 22 rotating shaft, 23 motor compartment, 24 connecting handle, 25 driving handle, 26 driving shaft, 3 motor, 4 rotating shaft, 5 moving wheel, 6 connecting frame, 7 connecting plate, 8 power storage group, 9 infrared sensor, 10 controller. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0020] See also Figure 1-3 ,This embodiment provides a technical solution: a chassis structure of a leveling robot, including a line patrol warehouse 1;

[0021] The line patrol warehouse 1: the front and rear ends thereof are both provided with a steering drive mechanism 2, the steering drive mechanism 2 comprises a motor warehouse 23, a connecting handle 24 and a driving handle 25, the motor warehouse 23 is symmetrically rotatably connected to the interior of the line patrol warehouse 1, the upper ends of the motor warehouse 23 are fixedly connected with pillars, the upper ends of the pillars are fixedly connected with connecting handles 24, the ends of the connecting handles 24 close to the center of the line patrol warehouse 1 are fixedly connected with connecting shafts, and the two laterally adjacent connecting shafts are rotatably connected to the same driving handle 25, the ends of the motor warehouse 23 away from the center of the line patrol warehouse 1 are rotatably connected with rotating shafts 4, and the ends of the rotating shafts 4 away from the center of the line patrol warehouse 1 are fixedly connected with moving wheels 5, a controller 10 is provided on the right side of the line patrol warehouse 1, a battery pack 8 is provided at the center of the bottom wall of the line patrol warehouse 1, the input end of the controller 10 is electrically connected to the output end of the battery pack 8, and the lower end of the line patrol warehouse 1 is provided with symmetrically distributed infrared sensors 9, the infrared sensors The sensors 9 are bidirectionally electrically connected to the controller 10, and the operation of the motor 3 is realized through the controller 10. The rotation of the output shaft of the motor 3 drives the rotation of the laterally adjacent rotating shaft 4, and the rotation of the rotating shaft 4 drives the rotation of the laterally adjacent moving wheels 5. At the same time, the controller 10 realizes the operation of the infrared sensor 9. The infrared sensor 9 monitors the moving route of the leveling robot in real time and transmits the actual moving route to the signal receiving end of the controller 10. The controller 10 adjusts the speed of the motor 3 according to the actual moving route, and finally realizes the adjustment of the speed of the moving wheel 5. When the rotation speeds of the two laterally adjacent moving wheels 5 are equal and consistent in direction, the leveling robot can go straight; when the rotation speeds of the two adjacent moving wheels 5 are equal and opposite in direction, the leveling robot can realize turning on the spot; and when the rotation speeds of the two adjacent moving wheels 5 are unequal and consistent in direction, differential steering of the leveling robot can be realized;

[0022] Wherein: the steering drive mechanism 2 also includes a rotating shaft 22, which is symmetrically connected to the front and rear ends of the line patrol chamber 1, and the upper ends of the rotating shafts 22 are fixedly connected to the lower ends of the vertically adjacent motor chamber 23, and the rotating shafts 22 coincide with the central axes of the vertically adjacent pillars. The steering drive mechanism 2 also includes a steering engine 21 and a driving shaft 26, and the driving shafts 26 are fixedly connected to the middle parts of the two driving handles 25. The steering engines 21 are respectively arranged at the front and rear ends of the line patrol chamber 1, and the ends of the movable handles of the steering engines 21 close to the center of the line patrol chamber 1 are rotatably connected to the longitudinally adjacent driving shafts 26, and the input ends of the steering engines 21 are electrically connected to the output ends of the controller 10. The motor chamber 23 is provided with a motor 3, and the output shafts of the motors 3 are fixedly connected to the ends of the laterally adjacent rotating shafts 4 close to the center of the line patrol chamber 1. The input ends of the motors 3 are fixedly connected to the middle parts of the two driving handles 25, and the input ends of the motors 21 are electrically connected to the output ends of the controller 10. They are all electrically connected to the output end of the controller 10. When the leveling robot turns, the controller 10 realizes the operation of the steering gear 21, and the movable handle of the steering gear 21 rotates, and the movable handles of the two steering gears 21 rotate in opposite directions. The rotation of the movable handle pulls the corresponding driving handle 25 to rotate through the longitudinally adjacent driving shaft 26, and the driving handle 25 drives the two transversely adjacent connecting handles 24 to rotate in the same direction. The connecting handle 24 drives the corresponding motor compartment 23 through the longitudinally adjacent pillars, so that the motor compartment 23 rotates under the auxiliary action of the vertically adjacent rotating shaft 22. The rotation of the motor compartment 23 drives the corresponding moving wheel 5 through the transversely adjacent rotating shaft 4 to realize the rotation of the moving wheel 5, providing assistance for the differential steering of the leveling robot, avoiding the leveling robot from slipping under certain conditions, and making the leveling robot move more stably along the trajectory;

[0023] Among them: the upper end of the line patrol bin 1 is fixedly connected with a connecting frame 6, the upper end of the connecting frame 6 is provided with evenly distributed connecting holes 1, the rear end of the line patrol bin 1 is fixedly connected with a connecting plate 7, and the rear end of the connecting plate 7 is provided with connecting holes 2.

[0024] The working principle of the chassis structure of a leveling robot provided by the utility model is as follows: when working, the personnel connect the chassis structure of the leveling robot with the external coating structure through the connecting plate 7, and then stably connect the leveling robot body with the mounting hole at the upper end of the mounting frame 6 through bolts, thereby realizing the assembly of the leveling robot, and then the personnel realize the operation of the motor 3 through the controller 10, and the rotation of the output shaft of the motor 3 drives the rotation of the laterally adjacent rotating shaft 4, and the rotation of the rotating shaft 4 drives the rotation of the laterally adjacent moving wheels 5. At the same time, the controller 10 realizes the operation of the infrared sensor 9, and the infrared sensor 9 monitors the moving route of the leveling robot in real time, and transmits the actual moving route to the signal receiving end of the controller 10. The controller 10 adjusts the speed of the motor 3 according to the actual moving route, and finally realizes the adjustment of the speed of the moving wheel 5. When the rotation speeds of the two laterally adjacent moving wheels 5 are equal and consistent in direction, the leveling robot realizes straight travel; when the rotation speeds of the two laterally adjacent moving wheels 5 are large When the rotation speeds of the two adjacent moving wheels 5 are different in size but consistent in direction, the leveling robot can achieve in-situ turning; and when the rotation speeds of the two adjacent moving wheels 5 are unequal in size but consistent in direction, the differential steering of the leveling robot can be achieved. When the leveling robot is turning, the controller 10 realizes the operation of the servo 21, and the movable handle of the servo 21 rotates, and the rotation directions of the movable handles of the two servos 21 are opposite. The rotation of the movable handle pulls the corresponding driving handle 25 to rotate through the longitudinally adjacent driving shaft 26, and the driving handle 25 drives the two laterally adjacent connecting handles 24 to rotate in the same direction. The connecting handle 24 drives the corresponding motor compartment 23 through the longitudinally adjacent pillars, so that the motor compartment 23 rotates under the auxiliary action of the vertically adjacent rotating shaft 22, and the rotation of the motor compartment 23 drives the corresponding moving wheel 5 through the laterally adjacent rotating shaft 4 to achieve the rotation of the moving wheel 5, providing assistance for the differential steering of the leveling robot, avoiding the leveling robot from slipping under certain conditions, and making the leveling robot move more stably along the trajectory.

[0025] It is worth noting that the servo 21 disclosed in the above embodiment can be MHMF022L1 U2M servo, the motor 3 can be YK2022002 adjustable speed motor, the infrared sensor 9 can be ST168 infrared photoelectric sensor, and the controller 10 controls the servo 21, motor 3, battery pack 8 and infrared sensor 9 to work using methods commonly used in the prior art.

[0026] The above description is only an embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A chassis structure of a leveling robot, characterized in that: It includes a line inspection chamber (1); A line patrol bin (1): a steering drive mechanism (2) is arranged at both the front and rear ends thereof, the steering drive mechanism (2) comprising a motor bin (23), a connecting handle (24) and a driving handle (25); the motor bin (23) is symmetrically rotatably connected to the inside of the line patrol bin (1); the upper end of the motor bin (23) is fixedly connected to a support column; the upper end of the support column is fixedly connected to a connecting handle (24); one end of the connecting handle (24) close to the center of the line patrol bin (1) is fixedly connected to a connecting shaft; two laterally adjacent connecting shafts are rotatably connected to the same driving handle (25); one end of the motor bin (23) away from the center of the line patrol bin (1) is rotatably connected to a rotating shaft (4); one end of the rotating shaft (4) away from the center of the line patrol bin (1) is fixedly connected to a moving wheel (5).

2. The chassis structure of a leveling robot according to claim 1, characterized in that: A controller (10) is arranged on the right side of the line patrol chamber (1), a battery pack (8) is arranged at the center of the bottom wall of the line patrol chamber (1), and an input end of the controller (10) is electrically connected to an output end of the battery pack (8).

3. The chassis structure of a leveling robot according to claim 1, characterized in that: The steering drive mechanism (2) further comprises a rotating shaft (22), wherein the rotating shaft (22) is symmetrically rotatably connected to the front and rear ends of the line patrol chamber (1), the upper end of the rotating shaft (22) is fixedly connected to the lower end of the vertically adjacent motor chamber (23), and the rotating shaft (22) coincides with the central axis of the vertically adjacent pillars.

4. The chassis structure of a leveling robot according to claim 1, characterized in that: The steering drive mechanism (2) further comprises a steering gear (21) and a drive shaft (26), wherein the drive shaft (26) is respectively fixedly connected to the middle of two drive handles (25), the steering gear (21) is respectively arranged at the front and rear ends of the line patrol chamber (1), and the end of the movable handle of the steering gear (21) close to the center of the line patrol chamber (1) is rotationally connected to the longitudinally adjacent drive shaft (26), and the input end of the steering gear (21) is electrically connected to the output end of the controller (10).

5. The chassis structure of a leveling robot according to claim 2, characterized in that: The lower end of the line inspection bin (1) is provided with symmetrically distributed infrared sensors (9), and the infrared sensors (9) are all bidirectionally electrically connected to the controller (10).

6. The chassis structure of a leveling robot according to claim 2, characterized in that: The motor compartment (23) is provided with a motor (3) inside, the output shaft of the motor (3) is fixedly connected to one end of a laterally adjacent rotating shaft (4) close to the center of the line patrol compartment (1), and the input end of the motor (3) is electrically connected to the output end of the controller (10).

7. The chassis structure of a leveling robot according to claim 1, characterized in that: The upper end of the line patrol bin (1) is fixedly connected to a connecting frame (6), the upper end of the connecting frame (6) is provided with evenly distributed connecting holes one, the rear end of the line patrol bin (1) is fixedly connected to a connecting plate (7), the rear end of the connecting plate (7) is provided with connecting holes two.

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