CN211850742U

CN211850742U - Movable chassis

Info

Publication number: CN211850742U
Application number: CN202020284371.8U
Authority: CN
Inventors: 王文剑; 沃佳龙; 袁琦堡; 赵金明
Original assignee: Shanghai Yayue Intelligent Technology Co ltd
Current assignee: Shanghai Yayue Intelligent Technology Co ltd
Priority date: 2020-03-09
Filing date: 2020-03-09
Publication date: 2020-11-03
Anticipated expiration: 2030-03-09

Abstract

The invention provides a movable chassis, which is matched with an upper track and a lower track and moves horizontally relative to the tracks, and comprises: a main frame; the universal chassis is arranged on the front side surface of the main frame in a lifting way through the longitudinal linear module; the upper walking device is fixed on the upper part of the main frame; the lower walking device is fixed at the lower part of the main frame; and the control device is fixed on the main frame. The movable chassis is used as a universal working platform of the relevant robot, and can perform multifunctional operation on the wall and other non-wall operation (such as transportation, installation, detection and the like) by replacing the relevant robot. The climbing frame is provided with an upper guide rail and a lower guide rail, the upper guide rail is provided with a closed wire groove, a sliding contact wire is arranged in the wire groove, the top of the wire groove is provided with a two-dimensional bar code, and the movable chassis moves between the upper guide rail and the lower guide rail.

Description

Movable chassis

Technical Field

The invention relates to the field of building climbing frames, in particular to a movable chassis.

Background

The climbing frame is a novel scaffold system developed in recent years and is mainly applied to high-rise shear wall type building plates. It can climb up or down along the building. Because the construction process needs to polish, spray paint, puttying, mend work such as hole to building outer wall, it is more frequent to utilize and climb the frame and alternate the operation. The threading work on the climbing frame brings some problems: (1) the high-altitude manual operation may bring personal safety problems; (2) manual operation and the cross-over construction of the climbing frame have low construction efficiency; (3) some manual operations (such as polishing, paint spraying, putty scraping and the like) have much dust and stimulating gas, so that the human body is seriously damaged and the environment is greatly polluted; (4) insufficient labor resources; (5) labor costs are high.

Disclosure of Invention

The invention provides a movable chassis, which solves the problems in the prior art.

The technical scheme of the invention is realized as follows:

the mobile chassis, with upper and lower track cooperation and relative to track horizontal migration, include:

a main frame;

the universal chassis is arranged on the front side surface of the main frame in a lifting way through the longitudinal linear module;

the upper walking device is fixed on the upper part of the main frame;

the lower walking device is fixed at the lower part of the main frame;

and the control device is fixed on the main frame.

As a preferable scheme of the present invention, the longitudinal linear module includes a lifter fixed on the main frame, and a lead screw and linear guide rails at both sides of the lead screw are installed in the lifter.

As a preferred scheme of the present invention, the main frame is provided with a screw rod servo motor for driving a screw rod to rotate, the screw rod and the linear guide rail are sleeved with a first sliding block, and the first sliding block is fixedly connected to the general chassis.

As a preferable scheme of the invention, at least two upper traveling devices are arranged on the upper part of the main frame, each upper traveling device comprises a U-shaped frame, upper connecting platforms are fixed on two vertical free ends of each U-shaped frame, traveling wheel mechanisms are rotatably connected onto the upper connecting platforms, and adjacent traveling wheel mechanisms clamp the upper track.

As a preferable aspect of the present invention, the upper running device includes a U-shaped frame, and a current collector is installed in the U-shaped frame.

As a preferable scheme of the present invention, the upper traveling device includes a U-shaped frame, and a two-dimensional code recognition device is installed in the U-shaped frame.

As a preferable scheme of the present invention, the main frame is provided with an electric cabinet.

As a preferable scheme of the invention, the lower walking device comprises an inverted U-shaped frame, a driving wheel is clamped between two vertical plates of the inverted U-shaped frame, and the driving wheel is driven to rotate by a servo speed reduction motor fixed on the side part of each vertical plate.

As a preferable scheme of the invention, an extension table is outwards arranged at the free end of the vertical plate, and a second side wheel for clamping the lower guide rail is rotatably connected to the extension table.

Has the advantages that:

the mobile chassis, with upper and lower track cooperation and relative to track horizontal migration, include: a main frame; the universal chassis is arranged on the front side surface of the main frame in a lifting way through the longitudinal linear module; the upper walking device is fixed on the upper part of the main frame; the lower walking device is fixed at the lower part of the main frame; and the control device is fixed on the main frame. The movable chassis is used as a universal operation platform of the relevant robot, and can perform multifunctional operation on the wall and other operations such as carrying, mounting, detection and the like on the wall in a non-aligned mode by replacing the relevant robot. The climbing frame is provided with an upper guide rail and a lower guide rail, the upper guide rail is provided with a closed wire groove, a sliding contact wire is arranged in the wire groove, the top of the wire groove is provided with a two-dimensional bar code, and the movable chassis moves between the upper guide rail and the lower guide rail.

The invention also has the following advantages:

1. the movable chassis is provided with a lifter which can lift the actuating mechanism, so that the actuating mechanism has a wider operation range in the height direction.

2. The elevator of the movable chassis is provided with a universal base which is used as a fixed mounting module of an actuating mechanism and can be provided with different actuating mechanisms, so that the movable chassis has universality.

3. The right-going travelling wheel mechanism of the mobile chassis is provided with a current collector, a current collecting brush of the current collector is in contact with a sliding contact line to enable the mobile chassis to obtain a power supply, the current collector moves in a closed wire slot, the wire slot is arranged on a guide rail, the sliding contact line is arranged in the wire slot, and the closed wire slot avoids electric leakage. The current collector solves a plurality of inconveniences caused by directly using the electric wire.

4. The movable chassis has the functions of moving, fixing and positioning identification by adopting a driving device controlled by a servo motor, an upper travelling wheel, a clamping mechanism and two-dimensional code identification equipment. The driving wheel of the driving device is pressed on the guide rail and rotates, the wheels at two sides are clamped on the guide rail, and the side wheels of the left and right upper traveling wheel mechanisms of the upper traveling wheel are clamped on the guide rail, so that the movable chassis can move on the guide rail; the sliding block of the clamping mechanism can be pushed open by the ejector rod, so that the sliding block clamps the guide rail, and the movable chassis can be fixed; the two-dimensional bar code is arranged in the guide rail wire slot, and the two-dimensional bar code identification equipment can acquire the information of the two-dimensional bar code in the wire slot along the guide rail position, so that the mobile chassis has the function of positioning and identifying.

5. This electric cabinet on mobile chassis is equipped with extensible module to make mobile chassis have scalability, possess multi-functional ductility.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a perspective view of a mobile chassis of the present invention;

FIG. 2 is a perspective view of the left upper traveling wheel and gripping mechanism of the robot of the present invention;

FIG. 3 is a detailed view of the left upper traveling wheel and gripping mechanism of the robot of the present invention;

FIG. 4 is a perspective view of the right upper traveling wheel mechanism of the robot of the present invention;

FIG. 5 is a structural diagram of the installation of the right upper traveling wheel mechanism and the mobile platform of the robot of the present invention;

fig. 6 is a structural view of a lower traveling wheel mechanism and a driving mechanism of the robot according to the present invention.

In the figure, 1, an upper traveling wheel; 2. a current collector; 3. a main frame; 4. an elevator; 5. a first slider; 6. a universal chassis; 7. a screw rod; 8. a linear guide rail; 9. a screw rod servo motor; 10. a drive device; 11. an electric cabinet; 12. a clamping mechanism; 13. a two-dimensional code recognition device; 201. a left upper traveling wheel mechanism; 204. an electric cylinder; 301. a first side wheel; 302. a slide base; 303. a second slider; 304. a spring; 305. a top rod; 306. a U-shaped seat; 307. a first shaft; 308. a first bearing; 402. an end plate; 403. a side plate; 405. a base plate; 406. a second shaft; 501. a right upper traveling wheel mechanism; 502. a bearing seat; 503. a second bearing; 504. a first bearing cover; 601. a supporting seat; 602. a drive wheel; 603. a third bearing; 604. a second bearing cover; 605. a coupler; 606. a motor base; 607. a servo deceleration motor; 608. a third axis; 609. a second side wheel.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example 1

A mobile chassis as shown in fig. 1-6, which is engaged with upper and lower rails and horizontally moves with respect to the rails, comprising:

a main frame 3;

the universal chassis 6 is arranged on the front side surface of the main frame 3 in a lifting way through a longitudinal linear module;

an upper traveling device fixed to the upper part of the main frame 3;

a lower traveling device fixed to the lower portion of the main frame 3;

and a control device fixed to the main frame 3.

The longitudinal linear module comprises a lifter 4 fixed on the main frame 3, and a screw rod 7 and linear guide rails 8 on two sides of the screw rod 7 are installed in the lifter 4.

The main frame 3 is provided with a screw rod servo motor 9 for driving a screw rod 7 to rotate, the screw rod 7 and the linear guide rail 8 are sleeved with a first sliding block 5, and the first sliding block 5 is fixedly connected with the general chassis 6.

At least two upper traveling devices are arranged on the upper portion of the main frame 3, each upper traveling device comprises a U-shaped frame, upper connecting platforms are fixed on two vertical free ends of each U-shaped frame, traveling wheel mechanisms are rotatably connected onto the upper connecting platforms, and adjacent traveling wheel mechanisms clamp the upper rails.

The upper walking device comprises a U-shaped frame, and a current collector 2 is arranged in the U-shaped frame.

Go up running gear includes U type frame, install two-dimensional code identification equipment 13 in the U type frame.

An electric cabinet 11 is installed on the main frame 3.

The lower walking device comprises an inverted U-shaped frame, a driving wheel 602 is clamped between two vertical plates of the inverted U-shaped frame, and the driving wheel 602 is driven to rotate by a servo speed reduction motor 607 fixed on the side of the vertical plate.

An extension table is outwards arranged at the free end of the vertical plate, and a second side wheel 609 for clamping the lower guide rail is rotatably connected to the extension table.

Example 2

The invention aims to provide a general moving chassis based on a climbing frame, which is used as a general operation platform of a related robot and aims to solve the problems of labor shortage, quality safety, low construction efficiency and cost control, and can perform multifunctional operation on a wall surface and other non-wall surface operations (such as transportation, installation, detection and the like) by replacing the related robot. The climbing frame is provided with an upper guide rail and a lower guide rail, the upper guide rail is provided with a closed wire groove, a sliding contact wire is arranged in the wire groove, the top of the wire groove is provided with a two-dimensional bar code, and the movable chassis moves between the upper guide rail and the lower guide rail.

A general moving chassis based on a climbing frame is composed of a main frame, a lifter, a general base, a driving device, an upper traveling wheel, two-dimensional code recognition equipment and an electric cabinet. The elevator set up in the right of main frame, general base set up on the elevator, the bottom both sides of main frame are provided with the drive wheel, upper portion is provided with walking wheel and two-dimensional code identification equipment, the left side of main frame is provided with the electric cabinet.

The lifter consists of a screw rod, a servo motor, a linear guide rail and a sliding block.

The universal base is connected with the slide block of the elevator.

The drive means is a combination of a drive mechanism and a lower running wheel mechanism. The driving mechanism consists of a driving wheel, a bearing cover, a shaft, a coupler, a motor base and a servo speed reduction motor, and the lower travelling wheel mechanism consists of a supporting seat, a driving wheel, a bearing cover, a shaft and a side wheel.

The upper traveling wheels are divided into a left upper traveling wheel mechanism and a right upper traveling wheel mechanism. Wherein the left upper travelling wheel mechanism and the clamping mechanism are integrated into a whole. The left upper travelling wheel mechanism consists of two side wheels, a sliding seat, a U-shaped seat, a shaft and a bearing, and the clamping mechanism consists of a sliding seat, a sliding block, a spring and an ejector rod. The right-hand travelling wheel mechanism is of a U-shaped structure, the upper end of the U-shaped structure is provided with a roller respectively, the base of the U-shaped structure is connected with a shaft, and the shaft and the bearing are arranged on a frame of the mobile platform.

The clamping mechanism is provided with two-dimensional code recognition equipment, and the right-hand traveling wheel mechanism is provided with a current collector.

The electric cabinet comprises motor drive, relay, contactor, button, pilot lamp, earth-leakage protector, ampere meter, voltmeter, socket, control switch, terminal group, extension module etc..

Linear module replacing lifter

The so-called linear module is a linear transmission device and has two main modes. One is composed of ball screw and linear guide track, and the other is composed of synchronous belt and synchronous belt wheel. Therefore, the linear module replaces the lifter and is assisted by a rigid structure, and the lifting function can be realized.

Mobile chassis with battery

The power source of the mobile chassis of the invention is supported by the current collector. The collector moves in a closed wire groove which is arranged on the guide rail, a sliding contact line is arranged in the wire groove, and a collecting brush of the collector is in contact with the sliding contact line to enable the movable chassis to obtain a power supply. And a battery can be arranged on the mobile chassis, so that the problem of power source is solved.

Tow line type movable chassis

The power supply of the mobile chassis of the invention can also be obtained from the control box of the climbing frame or from the interior of the building.

Example 3

The lifter consists of a screw rod, a servo motor and a linear guide rail. The slide block of the linear guide rail of the elevator is connected with the universal base.

The driving device consists of a driving mechanism and a lower travelling wheel mechanism. The driving mechanism consists of a driving wheel, a bearing cover, a shaft, a coupler, a motor base and a servo speed reducing motor.

The lower travelling wheel mechanism consists of a supporting seat, a driving wheel, a bearing cover, a shaft and side wheels.

The upper traveling wheels are divided into a left upper traveling wheel mechanism and a right upper traveling wheel mechanism. The left upper travelling wheel mechanism and the clamping mechanism are integrated into a whole. The left upper travelling wheel mechanism consists of two side wheels, a sliding seat, a U-shaped seat, a shaft and a bearing,

the clamping mechanism consists of a sliding seat, a sliding block, a spring and an ejector rod. And the clamping mechanism is provided with two-dimensional code recognition equipment.

The right-hand travelling wheel mechanism is of a U-shaped structure, the upper end of the U-shaped structure is provided with a roller respectively, the base of the U-shaped structure is connected with a shaft, and the shaft and the bearing are arranged on a frame of the mobile platform. The right upper travelling wheel mechanism is provided with a current collector.

Example 4

Fig. 1 is a perspective view of a mobile chassis of the present invention, in which: the left side of the main frame 3 is provided with an electric cabinet 11; the right side of the main frame 3 is provided with a lifter 4; the lifter 4 consists of a screw rod 7, a screw rod motor 9, a linear guide rail 8 and a slide block 5, and the slide block 5 is connected with a universal chassis 6; the upper part of the main frame 3 is provided with an upper travelling wheel 1 which is divided into a left travelling wheel mechanism and a right travelling wheel mechanism, the left travelling wheel mechanism and a clamping mechanism 12 are combined into a whole, the clamping mechanism is provided with a two-dimensional code recognition device 13, and the right travelling wheel mechanism is provided with a current collector 2; the driving device 10 is arranged at two sides of the bottom of the main frame 3.

Fig. 2 is a perspective view of the left upper traveling wheel and gripping mechanism of the robot of the present invention, in which: the left upper travelling wheel mechanism 201 and the clamping mechanism 12 are combined into a whole, wherein the clamping mechanism is powered by an electric cylinder 204, and a two-dimensional code recognition device 13 is arranged on a top rod of the clamping mechanism.

Fig. 3 is a detailed structural view of the left upper traveling wheel and the gripping mechanism of the robot of the present invention, in which: the left upper travelling wheel mechanism consists of two first side wheels 301, a sliding seat 302, a U-shaped seat 306, a first shaft 307 and a first bearing 308, the clamping mechanism consists of the sliding seat 302, a second sliding block 303, a spring 304 and a push rod 305, wherein the sliding seat 302 is a part of the left upper travelling wheel mechanism and is also a part of the clamping mechanism, and the push rod 305 of the clamping mechanism penetrates through the first shaft 307 of the left upper travelling wheel mechanism to be connected with a shaft of an electric cylinder. The plunger 305 pushes the slider 303 away, so that the two sliders 303 clamp the guide rail. The ejector pin 305 is provided with a two-dimensional code recognition device 13. The two first side wheels 301 of the left upper running wheel mechanism run on the guide rail.

Fig. 4 is a perspective view of the right upper traveling wheel mechanism of the robot of the present invention, in which: the end plate 402, the side plates 403 and the bottom plate 405 constitute a U-shaped seat structure, the first side wheels 401 are mounted on the end plate, the current collector 2 is mounted on the bottom plate 405 of the U-shaped seat, and the second shaft 406 is connected with the bottom plate 405.

Fig. 5 is a mounting structure diagram of the right upper traveling wheel mechanism and the mobile platform of the robot of the invention, in which: bearing block 502 is part of the mobile platform and the upper right running wheel mechanism 501 is mounted on the bearing block 502 with a second bearing 503 and a first bearing cover 504 in between.

Fig. 6 is a structural view of a lower traveling wheel mechanism and a driving mechanism of the robot of the present invention, in which: the support base 601, the driving wheel 602, the third bearing 603, the bearing cover 604, the third shaft 608 and the second side wheel 609 constitute a lower traveling wheel mechanism, wherein the driving wheel 602 presses on the guide rail, and the two second side wheels 609 are clamped on the guide rail. The drive wheel 602, the third bearing 603, the second bearing cover 604, the third shaft 608, the coupling 605, the motor mount 606, and the servo motor 607 constitute a drive mechanism. The motor seat 606 is connected to the support base 601.

Example 5

As shown in figure 1:

a general moving chassis based on a climbing frame is composed of a main frame 3, a lifter 4, a general base 6, a driving device 10, an upper travelling wheel 1, two-dimensional code recognition equipment 13 and an electric cabinet 11. The lifter 4 consists of a screw rod 7, a screw rod motor 9, a linear guide rail 8 and a slide block 5, the slide block 5 is connected with a universal chassis 6, and an actuating mechanism is connected with the universal chassis 6, so that the actuating mechanism has a wider operation range in the height direction.

The lifter 4 of the movable chassis is provided with a universal chassis 6, and the movable chassis has a universal function by replacing an actuating mechanism connected with the universal chassis 6.

The electric cabinet 11 is composed of a motor driver, a relay, a contactor, a button, an indicator light, a leakage protector, an ammeter, a voltmeter, a socket, a control switch, a router, a wiring terminal group, an extension module and the like. This electric cabinet 11 on removal chassis is equipped with extensible module to make the removal chassis have scalability, possess multi-functional ductility.

As shown in figures 2 to 6:

the moving chassis is driven by a driving wheel 602 connected with a shaft of a servo speed reduction motor 607, the driving wheel 602, a third bearing 603, a second bearing cover 604, a third shaft 608, a coupler 605, a motor base 606 and the servo speed reduction motor 607 form a driving mechanism, and a supporting seat 601, the driving wheel 602, the third bearing 603, the second bearing cover 604, the third shaft 608 and a second side wheel 609 form a lower traveling wheel mechanism, wherein the driving wheel 602 presses on a guide rail, and the two second side wheels 609 are clamped on the guide rail. The upper part of the movable chassis is provided with an upper travelling wheel which is divided into a left upper travelling wheel mechanism and a right upper travelling wheel mechanism, the left upper travelling wheel mechanism consists of two first side wheels 301, a sliding seat 302, a U-shaped seat 306, a first shaft 307 and a first bearing 308, the right upper travelling wheel mechanism consists of a U-shaped seat structure, a first side wheel 301, a second shaft 406 and a bottom plate 405, and the side wheels 301 are clamped on the guide rail and can move along the direction of the guide rail. The clamping mechanism 12 is composed of a sliding base 302, a second sliding block 303, a spring 304 and a top rod 305, wherein the top rod 305 of the clamping mechanism pushes the second sliding block 303 open, and the two second sliding blocks 303 clamp the guide rail. The movable chassis is fixed on the climbing frame by a clamping mechanism 12, the clamping mechanism 12 is integrated with a left upper travelling wheel mechanism, a two-dimensional code identification device 13 is arranged on the clamping mechanism 12, and the position of the movable chassis on the climbing frame is determined by the two-dimensional code identification device 13 identifying a two-dimensional bar code in a wire slot of an upper guide rail of the climbing frame. The movable chassis can freely move, be fixed and be positioned randomly along the direction of the guide rail.

The right-going travelling wheel mechanism of the mobile chassis is provided with a current collector 2, the current collector 2 moves in a closed wire slot arranged on a guide rail, a sliding contact wire is arranged in the wire slot, so that electric leakage is avoided, and a current collecting brush of the current collector 2 is in contact with the sliding contact wire, so that the mobile chassis obtains a power supply.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims

1. Move the chassis, with upper and lower track cooperation and for track horizontal migration, its characterized in that includes:

a main frame (3);

the universal chassis (6) is arranged on the front side surface of the main frame (3) in a lifting way through a longitudinal linear module;

the upper walking device is fixed at the upper part of the main frame (3);

a lower walking device fixed at the lower part of the main frame (3);

and a control device fixed on the main frame (3).

2. The mobile chassis according to claim 1, characterized in that the longitudinal linear module comprises a lifter (4) fixed on the main frame (3), and a screw rod (7) and linear guide rails (8) at two sides of the screw rod (7) are installed in the lifter (4).

3. The mobile chassis according to claim 2, wherein the main frame (3) is provided with a screw rod servo motor (9) for driving a screw rod (7) to rotate, the screw rod (7) and the linear guide rail (8) are sleeved with a first sliding block (5), and the first sliding block (5) is fixedly connected with the universal chassis (6).

4. The mobile chassis according to claim 1, characterized in that at least two upper traveling devices are arranged on the upper part of the main frame (3), the upper traveling devices comprise a U-shaped frame, the two vertical free ends of the U-shaped frame are fixed with upper connecting platforms, the upper connecting platforms are rotatably connected with traveling wheel mechanisms, and the adjacent traveling wheel mechanisms clamp the upper track.

5. The moving chassis according to claim 1, characterized in that the upper running means comprise a U-shaped frame inside which the current collector (2) is mounted.

6. The mobile chassis according to claim 1, characterized in that the upper running gear comprises a U-shaped frame, inside which a two-dimensional code recognition device (13) is mounted.

7. The mobile chassis according to claim 1, characterized in that an electric cabinet (11) is mounted on the main frame (3).

8. The mobile chassis of claim 1, wherein the lower walking device comprises an inverted U-shaped frame, a driving wheel (602) is clamped between two vertical plates of the inverted U-shaped frame, and the driving wheel (602) is driven to rotate by a servo speed reduction motor (607) fixed on the side of each vertical plate.

9. The mobile chassis of claim 8, wherein the free end of the vertical plate is provided with an extension table outwards, and a second side wheel (609) for clamping the lower guide rail is rotatably connected to the extension table.