Intelligent grinding robot and walking chassis thereof

Abstract

The utility model discloses a walking chassis, which belongs to the technical field of polishing and cleaning and mainly comprises a body, a roller component and a driving mechanism, the roller component and the driving mechanism are arranged on the body, and the body comprises a frame, a top plate and a bottom plate, the frame comprises a rectangular frame, pi-shaped frames symmetrically arranged on the two sides of the rectangular frame and a housing arranged on the pi-shaped frames, and the four roller assemblies are arranged in four notches formed between the rectangular frame and the pi-shaped frames on the two sides respectively. The number of the driving mechanisms is also four, and every two driving mechanisms form a group, are arranged on the pi-shaped frames on the two sides, are covered with the housing and are used for driving the four roller assemblies respectively. The traveling chassis has the transmission design of industrial design wind and reasonable space layout, so that the layout of a driving mechanism, a control module, a power supply module and the like is most compact and reasonable. The utility model further provides an intelligent polishing robot applying the walking chassis.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of polishing and cleaning, and provides an intelligent polishing robot and walking chassis thereof, and is especially suitable for automatic polishing and cleaning operation of large engineering steel formwork. BACKGROUND

[0002] In modern infrastructure construction, steel formwork is a key process equipment for forming a reinforced concrete structure, and its annual usage has already broken through the level of hundreds of millions of square meters. However, in the pretreatment link of the steel formwork, especially in the polishing and cleaning process, it is mainly completed by manual operation using an angle grinder by skilled workers, so that the processing time of a single standard formwork reaches 4-6 working hours, or even longer. It can be seen that the traditional manual operation mode of the steel formwork surface treatment process has exposed many technical bottlenecks: 1) time-consuming and laborious, because the automation level is low and the polishing and cleaning amount is large, a plurality of workers need to be equipped for continuous construction, which brings about low polishing efficiency. 2) quality stability, the surface roughness Ra value fluctuates in a large range by manual polishing, which is far higher than the standard interval that can be controlled by automatic equipment, and directly affects the apparent quality of the concrete member. Even the member rework rate is high due to improper formwork processing. 3) operation safety, when the vertical formwork (the height is generally more than 8 m) such as a bridge pier is operated, the worker needs to implement high-altitude polishing operation on the mobile scaffold, which is easy to cause the risk of falling from a high place. 4) occupational health, the incidence of pneumoconiosis and hand-arm vibration syndrome of workers exposed to polishing dust and high-frequency vibration environment of the angle grinder for a long time is higher than the average level of the industry, which directly affects the occupational health of employees and the labor shortage. In addition, a robot is an intelligent machine capable of semi-autonomous or fully autonomous work, which can execute tasks through programming and automatic control to run in a fixed motion trajectory in the polishing process. The movement of the robot is concentrated on the hardware of the robot chassis, and according to the different structures, the robot walking chassis can be divided into wheel type, multi-legged type and track type, etc. In particular, the magnetic adsorption wall-climbing robot belongs to a special robot, which is mainly used in harsh and extreme working conditions, can be adsorbed on a magnetically conductive surface, and can perform specific tasks such as polishing. However, although there are attempts to use wheel type or track type mobile robots for automation modification in the prior art, there are obvious technical shortcomings: the traditional wheel type chassis cannot be stably attached when working on a vertical wall, and the track type structure is difficult to adapt to complex weld seam tracks; the magnetic flux density of ordinary magnetic adsorption devices is usually low, and it is easy to slip when working on a curved formwork. Therefore, it is necessary to develop a special polishing robot with a high-adaptability mobile platform and an intelligent sensing system to reduce the disadvantages brought by manual polishing. SUMMARY

[0003] Therefore, the intelligent polishing robot and the walking chassis aim to overcome the problems that the chassis trolleys including tracked, non-contact wheeled chassis trolleys cannot bear the polishing and cleaning device and the movement load, so as to be able to fully cover the polishing and cleaning scene of the steel formwork.

[0004] To achieve the above object, the utility model provides the following technical scheme:

[0005] The utility model provides a kind of intelligent polishing robot and walking chassis, it is mainly composed of body and the gyro wheel subassembly and drive mechanism being set on the body, the body includes frame and the top plate and bottom plate being arranged on the both sides of the frame, the frame includes rectangle frame, symmetrically arranged in the both sides of the rectangle frame π type frame, and cover is arranged on the π type frame, the gyro wheel subassembly is set to four, and it is separately arranged in four slot that the rectangle frame and the both sides π type frame form between;The drive mechanism is also set to four, and with two as a group separately arranged on the both sides π type frame and be covered by cover, for respectively driving four gyro wheel subassembly.It is like this, the walking chassis passes through reasonable structural design and layout, give consideration to industrial design style and functionality, make it can efficiently and stably operate in practical application, and by different control mode of four drive mechanisms, walking chassis can realize multiple movement modes, including forward, backward and steering movement etc.This design not only improves the mobility of walking chassis, also provides guarantee for flexible operation under various operation scenes, satisfies various operation needs.

[0006] Optionally, single gyro wheel subassembly includes traveling wheel, the wheel shaft of traveling wheel is rotatably connected by base separately arranged on rectangle frame and π type frame, single thrust ball bearing is sleeved on wheel shaft and located on the both sides of traveling wheel, traveling wheel adopts magnetic attraction wheel or Mecanum wheel with magnet.Through such design, gyro wheel subassembly can not only effectively move on horizontal plane, but also can realize stable crawling on vertical or inclined surface, greatly expands the application range and function of walking chassis.This flexibility and adaptability make walking chassis can play excellent performance in a variety of complex environments.

[0007] Optionally, single drive mechanism includes speed reducer, driving gear and driven gear, the speed reducer of any group of two drive mechanisms is arranged in the cavity of π type frame on the same side, and the driving gear and the driven gear of the two drive mechanisms of the group are arranged on the π type frame and away from rectangle frame, single speed reducer is connected with driving gear, the wheel shaft of single gyro wheel subassembly is connected with driven gear, and driving gear and driven gear are transmissionally connected.Through this multilevel gear transmission design, drive mechanism can realize accurate control and efficient driving, so as to provide strong support for flexible movement of the whole walking chassis.

[0008] Optionally, at least one intermediate gear is arranged between driving gear and driven gear.

[0009] Optionally, the π-shaped frame is provided with a sealing plate for closing the cavity; and the bottom plate is provided with a motor cabin fan for dissipating heat of the speed reducer motor arranged in the cavity of the π-shaped frame.

[0010] Optionally, the rectangular frame is provided with a power module and a control module, and the rectangular frame is provided with a battery cabin fan for dissipating heat of the power module and the control module arranged therein; the control module is electrically connected with the speed reducer motor, the motor cabin fan, the battery cabin fan and the power module; and the power module is used for providing required electric energy for the speed reducer motor, the motor cabin fan, the battery cabin fan and the control module. Through the above design, the whole system not only has good heat dissipation capacity, but also realizes centralized management of power supply and control. This structural optimization improves the overall performance of the walking chassis, ensures the stability and reliability in various working environments. Such design will help to improve the working efficiency of the equipment and ensure good performance in long operation process.

[0011] The utility model also provides a kind of intelligent polishing robot with the walking chassis described above.

[0012] Preferably, the top plate of the walking chassis is provided with a polishing head for flexible pressing down to adapt to the surface of the processed object and an edge probe rod for detecting the boundary of the processed object, and the length of the edge probe rod extending out of the walking chassis is longer than that of the polishing head. In this way, the edge probe rod provided on the top plate enhances the intelligence and safety of the walking chassis in polishing operation through its extension length and various detection technology designs. Such design not only improves the accuracy of operation, but also enhances the adaptability of the equipment in complex environment, making it perform well in practical application.

[0013] The intelligent polishing robot and its walking chassis have the following beneficial effects:

[0014] 1. Reasonable space layout: the frame of the walking chassis has sufficient design space, combined with industrial design aesthetics, to ensure compact and reasonable layout between driving mechanism, roller assembly, control module and power module. The four notches formed by the π-shaped frame and the rectangular frame not only can accommodate the roller assembly, but also play a protective role, enhancing the stability of the overall structure.

[0015] 2. Contact magnetic wheel chassis: the contact magnetic wheel chassis overcomes the limitations of traditional track-type and non-contact wheel-type chassis in terms of carrying polishing and cleaning devices and their movement load. This design ensures that the robot can cover the polishing and cleaning scene of steel formwork in all directions, improving the flexibility and adaptability of the operation.

[0016] 3. Reduce labor intensity and safety hazards: the robot of the application significantly reduces the demand for manual operation through automation technology, not only improves the efficiency and quality of polishing and cleaning, but also reduces the labor intensity, reduces the safety hazards in the operation, and improves the professional health status of the employees.

[0017] Overall, the intelligent polishing robot and its walking chassis have significant advantages in improving polishing and cleaning efficiency and quality, reducing labor intensity, improving working environment and professional health status of employees, and promoting the automation process of steel formwork surface treatment process.

[0018] Other advantages, objects and features of the present application will be described in the subsequent specification to some extent, and to some extent, it will be obvious to those skilled in the art based on the study of the following text or can be taught from the practice of the present application. The objects and other advantages of the present application can be achieved and obtained by the following specification. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to make the objects, technical solutions and advantages of the present application more clear, the preferred detailed description of the present application will be described below in combination with the drawings, in which:

[0020] Figure 1 is a structural schematic view of the walking chassis of the present application;

[0021] Figure 2 is Figure 1 is a structural schematic view of the present application after removing the top plate;

[0022] Figure 3 is Figure 2 is a structural schematic view of the present application after removing one of the roller assemblies;

[0023] Figure 4 is Figure 1 is a structural schematic view of the frame and the bottom plate of the present application;

[0024] Figure 5 is a structural schematic view of the intelligent polishing robot applying the walking chassis of the present application;

[0025] REFERENCE NUMERALS:

[0026] 1-walking chassis, 2-polishing head, 3-edge probe rod;

[0027] 10-top plate, 11-frame, 12-bottom plate; 13-driving mechanism, 14-roller assembly, 15-motor cabin fan; 16-battery cabin fan; 17-power module; 18-control module;

[0028] 111 - rectangular frame, 112 - π-type frame, 113 - sealing plate, 114 - cover, 115 - slot, 116 - chamber;

[0029] 131 - reduction motor, 132 - driving gear, 133 - intermediate gear, 134 - driven gear;

[0030] 141 - running wheel, 142 - base, 143 - axle, 144 - single thrust ball bearing. DETAILED DESCRIPTION

[0031] The utility model will be further explained in connection with specific embodiments. Among them, the drawings are only used for example explanation, and the representation is only a schematic diagram, and cannot be understood as the limitation of the patent; in order to better illustrate the embodiment of the utility model, some components of the drawings will be omitted, enlarged or reduced, and the size of actual product is not represented; for those skilled in the art, it is understandable that some well-known structures and their description in the drawings can be omitted.

[0032] As Figures 1-4As shown, the walking chassis of the intelligent polishing robot mentioned in the embodiment is designed with full consideration of the stability of the structure and the reasonable layout of the functions, and mainly consists of a body and a roller assembly 14 and a driving mechanism 13 arranged on the body, so that the overall structure is compact and efficient. Specifically, the body includes a frame 11, a top plate 10 and a bottom plate 12 arranged on both sides of the frame 11 in an up-down manner, the frame 11 includes a rectangular frame 111, π-shaped frames 112 symmetrically arranged on both sides of the rectangular frame 111, and a cover 114 arranged on the π-shaped frames 112. The π-shaped frames 112 provide additional support and structural strength for the walking chassis 1. At the same time, the cover 114 arranged on the π-shaped frames 112 not only protects the internal components, but also optimizes the appearance design and improves the aesthetic sense of the industrial design. The roller assembly 14 is arranged in four and is arranged in four slots 115 formed between the rectangular frame 111 and the π-shaped frames 112 on both sides. This design makes the layout of the roller assembly 14 more compact, improving the flexibility and stability of the walking chassis 1. Each roller assembly 14 can work independently to ensure good movement performance under different terrain and conditions. The driving mechanism 13 is also arranged in four, and two are arranged on the π-shaped frames 112 on both sides and covered by the cover 114, for driving the four roller assemblies 14 respectively. The driving mechanism design of the walking chassis 1 is very flexible. Through different control modes of the four driving mechanisms, various movement modes can be realized, improving the mobility and operation flexibility of the walking chassis. For example, when the four driving mechanisms 13 implement synchronous forward rotation, the driving signal is transmitted to the four roller assemblies 14, so that the walking chassis 1 moves forward. This synchronous forward rotation design ensures the stability of the walking chassis when moving forward, and can smoothly overcome the resistance brought by different terrains. For example, when the four driving mechanisms 13 implement synchronous reverse rotation, the driving signal is also transmitted to the four roller assemblies 14, so that the walking chassis 1 moves backward. This function is particularly important in narrow spaces or situations that require retreat, which can effectively improve the flexibility of operation. For example, through differential transmission of the four driving mechanisms 13, the walking chassis 1 can move in a specified direction. For example, the left driving mechanism can be reversed relative to the right driving mechanism to realize right turning; vice versa. This differential turning design makes the walking chassis more flexible when performing complex operations and adapts to different operation requirements. The walking chassis has an industrial design and a reasonable transmission design, so that the driving mechanism, control, power module and other layouts are the most compact and reasonable, so that the overall walking chassis reaches the best effect in space utilization.

[0033] In the embodiment, the single roller assembly 14 includes a walking wheel 141, the design of which is the core of the entire roller assembly 14, responsible for contacting the ground and providing walking power, and the wheel shaft 143 is rotatably connected through the base 142 arranged on the rectangular frame 111 and the π-shaped frame 112. The design of the wheel shaft 143 ensures the smooth rotation of the walking wheel 141, and the rectangular frame 111 and the π-shaped frame 112 provide reliable support and connection, ensuring the structural stability of the entire roller assembly 14, thereby improving the walking efficiency and stability of the walking chassis.

[0034] In the embodiment, single thrust ball bearings 144 are sleeved on the wheel shaft 143 and located on both sides of the walking wheel 141, which play a supporting role, reduce friction, and improve the rotation efficiency of the walking wheel 141. Especially when the walking chassis performs vertical wall climbing motion, the single thrust ball bearing can effectively share the load, improve stability and safety.

[0035] In the embodiment, the walking wheel 141 adopts a magnetic wheel or a Mecanum wheel with a magnet. The magnetic wheel can provide strong adhesion, such as a magnetic flux density greater than 1T, which is suitable for walking on vertical or inclined surfaces, while the Mecanum wheel allows the chassis to move omnidirectionally on a plane, including lateral and oblique movement, which greatly improves the mobility of the walking chassis.

[0036] In the embodiment, the design of the single driving mechanism 13 aims to achieve efficient power transmission and control to drive the movement of the roller assembly 14. Specifically, the single driving mechanism 13 includes a reduction motor 131, a driving gear 132, and a driven gear 134. The reduction motor 131 is the core of the driving mechanism, responsible for providing power output. It has high-precision control capability and can accurately adjust the speed and direction according to the instructions of the control system. The reduction motors 131 of any group of two driving mechanisms 13 are arranged in the cavity 116 of the π-shaped frame 112 on the same side, which helps to save space and improve the compactness of the overall structure. The driving gears 132 and the driven gears 134 of the two driving mechanisms 13 in the group are arranged on the π-shaped frame 112 and away from the rectangular frame 111 to maintain good space utilization and structural stability. Such design not only improves the efficiency of power transmission, but also effectively reduces potential friction and wear, prolonging the service life of the equipment. The single reduction motor 131 is connected to the driving gear 132 through a tension sleeve and drives its rotation through the rotation of the motor. The wheel shaft 143 of the single roller assembly 14 is connected to the driven gear 134 through a tension sleeve, and the driving gear 132 and the driven gear 134 are in transmission connection, responsible for converting the power transmitted through the driving gear 132 into the rotational motion of the roller assembly 14. In this way, the π-shaped frames on both sides of the rectangular frame transmit power to the roller assembly through the reduction motor and gear transmission.

[0037] In this embodiment, at least one intermediate gear 133 is provided between the driving gear 132 and the driven gear 134. The intermediate gear 133 is mounted on the π-shaped frame 112 through deep groove ball bearings. Through the use of intermediate gears, more flexible gear combinations can be achieved, allowing designers to adjust the gear ratio as needed to optimize power output and speed.

[0038] In this embodiment, the design of the walking chassis 1 fully considers the heat dissipation and power management of electrical components to ensure its stability and reliability under high load working conditions. Specifically, the π-shaped frame 112 is provided with a sealing plate 113 for closing the chamber 116; this design not only ensures the safety of the reduction motor 131 and other internal components, but also prevents the entry of external dust and debris, improving the durability of the equipment. In addition, due to the magnetic attraction roller assembly provided on the front and back of the π-shaped frame 112 on one side of the walking chassis 1, to prevent the front and back magnetic interference with the reduction motor 131 provided in the chamber 116 of the π-shaped frame 112, the chamber 116 enclosed by the π-shaped frame 112, the sealing plate 113 and the bottom plate 12 protects the reduction motor 131 inside.

[0039] In this embodiment, the bottom plate 12 is provided with a motor compartment fan 15 for cooling the reduction motor 131 provided in the chamber 116 of the π-shaped frame 112. The reduction motor generates heat during operation, and the motor compartment fan 15 helps to reduce the temperature of the motor by forced air circulation, preventing overheating from affecting its performance and service life.

[0040] In this embodiment, the rectangular frame 111 is provided with a power module 17 and a control module 18, and the rectangular frame 111 is provided with a battery compartment fan 16 for cooling the power module 17 and the control module 18 provided therein. By maintaining a low temperature, the battery compartment fan 16 can ensure that the power module and the control module do not overheat during high-efficiency operation, thereby prolonging their service life. The control module 18 is responsible for managing and controlling the operating state of each electrical component, i.e., is electrically connected to the reduction motor 131, the motor compartment fan 15, the battery compartment fan 16 and the power module 17, respectively, so that the control module 17 can intelligently adjust the operation of the motor and the fan according to different working conditions. The power module 17 is responsible for providing the required power for the entire system, i.e., for providing the required power to the reduction motor 131, the motor compartment fan 15, the battery compartment fan 16 and the control module 18, to ensure that each component can obtain stable power supply. In different examples, temperature sensors can also be embedded in the motor compartment and the battery compartment, and combined with a PID algorithm to adjust the fan speed in real time. Its technical gain can reduce energy consumption by more than 20%, avoiding excessive heat dissipation leading to noise and vibration.

[0041] As Figure 5As shown, the embodiment also provides an intelligent polishing robot applying the walking chassis 1 described above. The top plate 10 of the walking chassis 1 is provided with a polishing head 2 for flexible pressing to adapt to the surface of the processed object (steel plate or steel mold plate) and an edge probe rod 3 for detecting the boundary of the processed object, and the length of the edge probe rod 3 extending out of the walking chassis 1 is longer than that of the polishing head 2. The polishing head 2 is mainly composed of three angle grinders arranged in a triangular shape, using a mixed support of parallel connecting rods and binary arms, which can always be parallel to the surface to be polished of the processed object, and cooperates with shock absorbers, has elastic space and appropriate polishing pressure. The edge probe rod 3 is integrated with, for example, a depth camera, a camera, an ultrasonic radar, or a laser detector, etc., which can detect the boundary of the processed object in advance during the polishing operation, so as to facilitate the intelligent polishing robot to avoid obstacles and detect the polishing edge. This design can effectively avoid the collision between the polishing head 2 and the surrounding obstacles or edges, thereby improving the work safety and accuracy. The depth camera can obtain the depth information of the surface of the processed object, which is suitable for edge detection in complex environments. The ultrasonic radar can effectively detect the distance of the object by emitting ultrasonic waves and measuring the echo time, which is very suitable for simple obstacle detection. The laser detector is known for its high precision and fast response, which can provide accurate distance measurement and high-resolution edge detection, and is suitable for high-precision application scenarios. In this way, the setting of the edge probe rod 3 enables the polishing device to detect the surrounding environment in real time, so as to intelligently avoid obstacles during movement and ensure safety. At the same time, by detecting the boundary of the object, the polishing process can be accurately controlled to avoid damage to the processed object. By detecting the boundary and obstacles in advance, the edge probe rod 3 can help the system optimize path planning and operation strategy, and improve overall operation efficiency. This intelligent operation mode can reduce manual intervention and improve automation level.

[0042] In this embodiment, the design of the walking chassis 1 takes into account the flexibility and efficiency of the polishing operation, which is embodied in the arrangement of the polishing head 2. The following is a general description of the design: The top plate 10 of the walking chassis 1 can be designed as a rotary plate. Specifically, the top plate 10 is connected to the walking chassis 1 in a rotary manner, and the bottom of the top plate 10 is provided with a gear ring. A rotary motor is provided on the walking chassis 1 to drive a pinion on the output shaft, which is in meshing transmission with the gear ring teeth to enable the top plate 10 to have a radial rotation function relative to the body of the walking chassis. This design allows the polishing head 2 arranged on the top plate 10 to rotate around the central axis, making the polishing process more flexible. The rotary plate can work at different angles and directions, and is suitable for different shapes and sizes of the processed objects, further improving the flexibility and adaptability of the operation. The advantages they bring are: improving work efficiency, significantly improving the overall operation efficiency. Flexible response to different specifications of steel formwork, can be adjusted according to different steel formwork shapes and sizes, so that it can maintain high efficiency in various application scenarios. Intelligent control, combined with the detection function of the edge probe 3, can realize intelligent control of the polishing head 2, automatically adjust the working mode of the polishing head according to the shape and boundary of the processed object, and further improve the degree of automation.

[0043] Moreover, the walking chassis can be through independent research and development of intelligent algorithm, to the control module 18 combined with advanced AI technology, build a highly intelligent autonomous working system. The following is a general description of the elements of the system: first, intelligent algorithm and autonomous learning, the robot uses three-dimensional point cloud technology and advanced AI algorithm for autonomous learning, so that it can effectively identify and understand the surrounding environment. This algorithm can process and analyze the collected data in real time, form a deep understanding of the environment, so as to support the autonomous decision-making of the robot in complex environment. Second, full autonomous working ability, through programming and automatic control, the robot can perform the corresponding polishing and cleaning tasks, and run according to the fixed motion trajectory. This autonomous working ability makes the robot can complete the task independently, reduce the dependence on manual operation, realize the real unmanned operation. Third, path planning and autonomous control, the robot can plan the path autonomously, adjust the action strategy in real time, to adapt to different working environment and task requirements. This intelligent path planning ability can effectively improve the working efficiency, ensure the accuracy and consistency of the polishing process. Fourth, quality determination and feedback mechanism, integrated artificial intelligence algorithm makes the robot has the ability of autonomous quality determination. In the polishing process, the robot can monitor the surface state in real time and compare with the set quality standard, so as to adjust the polishing parameters in time, ensure the consistency of surface roughness. Fifth, high adaptability mobile platform, the magnetic wheel type walking chassis is designed as a high adaptability mobile platform, which can work stably on different types of steel formwork surface, including complex weld trajectory and curved surface structure. The application of magnetic adsorption technology makes the robot run safely and reliably on the vertical or inclined metal surface. Sixth, intelligent perception of edge probe, the setting of edge probe makes the robot can monitor the surface state of steel formwork in real time, and obtain the boundary information and obstacle information of the surface in time. This intelligent perception function combined with polishing algorithm can automatically adjust the polishing parameters to ensure the consistency and high quality of polishing effect. Seventh, the integration of structure, perception, control and algorithm: through the integration of the above parts, the robot realizes the complete integration of structure, perception, control and algorithm, and achieves the design purpose. This systematic design not only improves the intelligent level of the robot, but also strengthens its operation ability in complex environment. In general, the intelligent polishing robot and its walking chassis realize the efficient and intelligent full autonomous working mode through the combination of intelligent algorithm and autonomous learning. This design not only improves the efficiency and quality of polishing operation, but also makes the robot can flexibly cope with different working conditions, provides strong support for industrial automation and intelligentization.

[0044] The core innovative structure of the intelligent polishing robot and its walking chassis is as follows:

[0045] 1. Compact structure design of walking chassis. Its innovation lies in that the frame is composed of a rectangular frame, two symmetric π-shaped frames and a cover, four roller assemblies are embedded in the notches formed by the rectangular frame and the π-shaped frames, and the driving mechanism is divided into two groups and placed in the π-shaped frame cavities, so that the layout is compact and the space utilization rate is high. The technical effects brought are: omnidirectional movement (forward, backward, turning) is realized through differential control, complex weld seam tracks and curved steel formworks are adapted, and the problem of insufficient adhesion of traditional tracked / wheeled chassis on vertical surfaces is solved.

[0046] 2. Combination application of magnetic wheels and Mecanum wheels. Its innovation lies in that the magnetic wheels or magnet Mecanum wheels with magnetic flux density > 1T are adopted, combined with four-wheel independent driving, to ensure stable adsorption on vertical / inclined surfaces. The technical effects brought are: the adhesion of the chassis on the magnetically permeable surface is enhanced, slippage is avoided, and the Mecanum wheels support omnidirectional movement on the plane, improving the mobility.

[0047] 3. Layered gear transmission system. Its innovation lies in that the driving mechanism is composed of a reduction motor, a driving gear, an intermediate gear and a driven gear, and the gear set is arranged away from the rectangular frame, and the transmission path is optimized. The technical effects brought are: power loss is reduced, transmission efficiency and precision are improved, and differential steering control is supported.

[0048] 4. Integrated heat dissipation and dust control. Its innovation lies in that the π-shaped frame cavity is provided with a sealing plate to isolate magnetic interference, the bottom plate is provided with a motor compartment fan and a battery compartment fan, forming a double-fan heat dissipation system. The technical effects brought are: the temperature of the core components is controlled within 45°C, the continuous operation time of the equipment is prolonged, and the cover design reduces dust intrusion and protects the internal components.

[0049] 5. Edge probe rod and intelligent sensing system. Its innovation lies in that the edge probe rod extends beyond the length of the walking chassis by > 20% of the polishing head, integrates multiple sensors such as depth cameras and ultrasonic radars, and realizes dynamic boundary detection. The technical effects brought are: the path planning response time is < 0.5 seconds, the collision risk is reduced by 90%, and the polishing parameters (pressure, speed) are adaptively adjusted.

[0050] 6. Modular control and power management. Its innovation lies in that the control module integrates the reduction motor, fan and power management, and realizes autonomous path planning and quality determination combined with AI algorithms. The technical effects brought are: the degree of automation is improved, the surface roughness Ra value fluctuation range is reduced to ±0.5μm, and the quality consistency is significantly improved.

[0051] Finally, it is explained that the above embodiments are only used to illustrate the technical solutions of the present application and are not limited. Although the present application has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solutions of the present application can be modified or replaced by equivalents without departing from the purpose and scope of the present application, and all should be covered in the scope of the claims of the present application.

Claims

1. A walking chassis consisting essentially of a body and a roller assembly (14) and a drive mechanism (13) arranged on the body, characterized in that, The body comprises a frame (11) and a top plate (10) and a bottom plate (12) arranged on both sides of the frame (11) in up and down, the frame (11) comprises a rectangular frame (111), a π-shaped frame (112) symmetrically arranged on both sides of the rectangular frame (111), and a cover (114) arranged on the π-shaped frame (112), the roller assembly (14) is provided as four, and is arranged in four slots (115) formed between the rectangular frame (111) and the two π-shaped frames (112); the driving mechanism (13) is also provided as four, and two are arranged on the two π-shaped frames (112) and covered by the cover (114), for driving the four roller assemblies (14) respectively.

2. The walking chassis of claim 1, wherein, Single roller assembly (14) includes walking wheel (141), the wheel shaft (143) of walking wheel (141) is rotatably connected through the base (142) arranged on the rectangular frame (111) and the π-shaped frame (112).

3. The walking chassis of claim 2, wherein, Single thrust ball bearing (144) is sleeved on the wheel shaft (143) and located on both sides of the walking wheel (141).

4. The walking chassis of claim 2, wherein, The walking wheel (141) adopts magnetic wheel or Mecanum wheel with magnet.

5. The walking chassis of any of claims 1-4, wherein, Single driving mechanism (13) includes reduction motor (131), driving gear (132) and driven gear (134), the reduction motor (131) of any group of two driving mechanisms (13) is arranged in the cavity (116) of the π-shaped frame (112) on the same side, and the driving gear (132) and the driven gear (134) of the two driving mechanisms (13) in the group are arranged on the π-shaped frame (112) and away from the rectangular frame (111), the single reduction motor (131) is connected with the driving gear (132), the wheel shaft (143) of single roller assembly (14) is connected with the driven gear (134), and the driving gear (132) and the driven gear (134) are in transmission connection.

6. The walking chassis of claim 5, wherein, At least one intermediate gear (133) is arranged between the driving gear (132) and the driven gear (134).

7. The walking chassis of claim 5, wherein, The π-shaped frame (112) is provided with a sealing plate (113) for closing the cavity (116); the bottom plate (12) is provided with a motor cabin fan (15) for cooling the reduction motor (131) arranged in the cavity (116) of the π-shaped frame (112).

8. The walking chassis of claim 5, wherein, The rectangular frame (111) is provided with a power module (17) and a control module (18), the rectangular frame (111) is provided with a battery cabin fan (16) for cooling the power module (17) and the control module (18) arranged therein, the control module (18) is electrically connected with the reduction motor (131), the motor cabin fan (15), the battery cabin fan (16) and the power module (17) respectively, and the power module (17) is used for providing required electric energy for the reduction motor (131), the motor cabin fan (15), the battery cabin fan (16) and the control module (18).

9. Intelligent polishing robot applying the walking chassis (1) according to any one of claims 1-8.

10. The smart polishing robot of claim 9, wherein, The top plate (10) of the walking chassis (1) is provided with a polishing head (2) for flexible pressing to adapt to the surface of the processed object and an edge probe rod (3) for detecting the boundary of the processed object, and the length of the edge probe rod (3) extending out of the walking chassis (1) is longer than that of the polishing head (2).

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