CN213502641U

CN213502641U - A remove chassis for intelligent construction

Info

Publication number: CN213502641U
Application number: CN202021985243.2U
Authority: CN
Inventors: 胡雨辰; 顾怡; 叶军晨; 邓杨
Original assignee: Shanghai Dajie Robot Technology Co ltd
Current assignee: Shanghai Dajie Robot Technology Co ltd
Priority date: 2020-09-11
Filing date: 2020-09-11
Publication date: 2021-06-22
Anticipated expiration: 2030-09-11

Abstract

The utility model provides a mobile chassis for intelligent construction, which comprises a cover plate, a mounting plate, a bottom frame, a steering wheel driving mechanism and an external sensor component, wherein the external sensor component comprises a laser radar, is arranged on the outer edge of the mounting plate and is used for scanning and acquiring dot matrix data of a two-dimensional space to establish a map for convenient navigation; the four steering wheel driving mechanisms are respectively arranged at four corners of the bottom frame; the mounting panel locate on the curb plate of bottom frame, the apron locate the mounting panel top, apron, mounting panel and bottom frame pass through countersunk head bolt fixed as a whole. The utility model adopts four steering wheel driving mechanisms symmetrically distributed at four corners of the chassis to provide power, and can provide 400KG bearing capacity and excellent obstacle crossing and positioning driving capacity for the chassis, and has good load and obstacle crossing capacity; all the parts are driven independently, so that all-directional movement can be realized in a complex environment, and the device is used for various composite robot construction scenes.

Description

A remove chassis for intelligent construction

Technical Field

The utility model relates to a building engineering is with removing chassis technical field.

Background

The traditional building factory usually adopts a fixed point processing mode of a fixed machine or an additional movable guide rail, the mode is limited by the production environment, the processed components are single, and the flexible requirement of the current social production cannot be met; and the existing intelligent mobile chassis can not ensure the obstacle crossing capability and the working stability in the complex production and building site environment.

In order to improve the working efficiency of the building, a movable chassis capable of freely moving in such a complicated place as a building site is required.

SUMMERY OF THE UTILITY MODEL

The utility model discloses an it is not enough in function just to solve current product, provides one kind and accords with the construction industry precision requirement, possesses the flexibility simultaneously, hinders nature, stability and load capacity's intelligent movement chassis more.

In order to achieve the purpose, the utility model adopts the following technical proposal:

a mobile chassis for intelligent construction comprises a cover plate, a mounting plate, a bottom frame, a rudder wheel driving mechanism and an external sensor assembly, wherein the external sensor assembly comprises a laser radar, is arranged on the outer edge of the mounting plate and is used for scanning and acquiring dot matrix data of a two-dimensional space; the four steering wheel driving mechanisms are respectively arranged at four corners of the bottom frame; the mounting plate is arranged on the side plate of the bottom frame, and the cover plate is arranged above the mounting plate.

Steering wheel actuating mechanism including turning to the gear wheel, turn to the pinion, the steering wheel turns to motor, driving motor, mount and 2 motor drive, the steering wheel locate in the mount, the gear wheel that turns to locate on the mount, turn to the gear wheel and be the vertical state with the steering wheel, the steering motor with turn to the pinion and be connected, turn to the pinion and turn to gear wheel meshing and be connected, driving motor is connected with the steering wheel, 2 motor drive respectively with turn to motor and driving motor and be connected, control steering motor and driving motor's work realizes that a steering wheel mechanism is independent at the free rotation of X axle and Y axle.

Furthermore, a steering motor and a driving motor in the steering wheel driving mechanism are 48V, and the power of the motors is respectively more than 0.2KW and 0.4KW, so that enough power is provided for the chassis. The diameter of the steering wheel 403 is more than 250 mm. The linear speed of the movement of the chassis can reach 2.0m/s, the angular speed can reach 4.0rad/s, and the movement performance is superior, so that the obstacle crossing and accurate positioning capability in the building environment can be met.

The four rudder wheel driving mechanisms are driven by 8 motor drivers and respectively and independently control the rotation of the X axis and the Y axis of the 4 rudder wheels, so that the all-directional movement of the chassis is realized. The four-wheel drive independent control can provide enough power to continue working even if one wheel is in a suspended state, and can also realize the in-situ rotation of the chassis. Furthermore, encoders are arranged in the steering motor and the driving motor, and the encoders can feed back actual movement information by measuring the rotation angle of the motor shaft to assist in realizing accurate positioning of the chassis.

Furthermore, the laser radar is provided with more than two laser radars which are respectively arranged at the two ends of the same diagonal line on the mounting plate. Furthermore, the dustproof baffle plates are arranged above and below the laser radar, so that the working positioning accuracy of the laser radar is not interfered while the stable operation of the laser radar is ensured.

Further, the external sensor assembly further comprises an anti-collision strip, wherein the anti-collision strip is arranged on the periphery of the mounting plate and is mainly used for collision scram to prevent accidents.

Furthermore, the bottom frame comprises a bottom plate, a steering wheel platform, a partition plate and side plates, wherein the steering wheel platform is arranged at the front end and the rear end of the bottom plate and is used for arranging 4 steering wheel driving mechanisms; the partition plate is arranged in the bottom frame and used for partitioning working components fixed on the bottom plate, so that necessary working components are protected and isolated, and the working stability of the chassis is enhanced; the side wall is used for supporting and connecting the mounting plate.

Furthermore, a rotary table is arranged in the steering wheel platform, a fixing frame of the steering wheel driving mechanism is fixedly connected with the rotary table at the corresponding position, and the steering wheel driving mechanism is arranged at four corners of the bottom frame through the steering wheel platform, so that the free rotation and walking of the chassis are ensured.

Furthermore, the mounting plate is provided with a circuit board, a contactor, a voltage reduction module, an air switch and a wiring port, and the contactor is used for preventing starting current from impacting and ensuring current to be smooth; the two voltage reduction modules are used for reducing the voltage of the 48V battery to 24V and 12V and supplying power to different electronic components; and the air switch is used for protecting the circuit to automatically cut off the circuit when the circuit is overloaded.

Furthermore, a battery, an industrial personal computer, a gyroscope, a softrouter, a camera and a camera fixing plate are arranged in the bottom frame, the battery provides a power source for the whole chassis, and the industrial personal computer is used for collecting and processing data of each sensor and issuing further instructions; the gyroscope is used for measuring the moving angle of the loaded robot and assisting in feeding back position real-time information; the softrouter can download the instruction to an industrial personal computer in real time to carry out manual remote control on the mobile chassis. The camera plays a role in accurate identification and positioning when being butted and warehoused.

Furthermore, the industrial personal computer is used for collecting data of the internal encoders of the external sensor assembly, the camera, the gyroscope and the steering wheel motor.

Furthermore, the cover plate is provided with a detachable window and a bolt hole, and the detachable window is used for overhauling and is used as a channel for up-down communication and wiring after the butt joint module is installed.

Furthermore, the camera fixing plate is a detachable maintenance window, so that maintenance is facilitated.

The utility model has the advantages that:

1. the utility model discloses a four symmetric distributions provide power in the steering wheel actuating mechanism in chassis four corners, provide 400 KG's bearing capacity and good obstacle and location ability more for the chassis simultaneously, possess good load and obstacle more ability.

2. Four steering wheel driving mechanisms symmetrically distributed at four corners of the chassis are driven independently, and omnibearing movement can be realized in a complex environment.

3. The utility model discloses the softrouter that is equipped with can carry out artificial remote control to removing the chassis in downloading the instruction to the industrial computer in real time, can require to set up to free navigation or fixed path navigation according to different occasions.

4. The utility model discloses can independently keep away the barrier and stop the barrier in the navigation road.

5. The utility model discloses can be used to multiple compound robot construction scene.

The following description of the embodiments of the present invention will be made with reference to the accompanying drawings:

drawings

FIG. 1 is a schematic diagram of an overall structure of a mobile chassis for intelligent construction provided by an embodiment.

Fig. 2 is an exploded view of the overall structure of the mobile chassis for intelligent construction provided by the embodiment.

Fig. 3 is a layout diagram of the inside of a layer 2 of the mobile chassis mounting plate for intelligent construction provided by the embodiment.

Fig. 4 is a structural diagram of a bottom frame 3 of a mobile chassis for intelligent construction provided by the embodiment.

Fig. 5 is a layout diagram of the inside of the bottom frame 3 layer of the mobile chassis for intelligent construction provided by the embodiment.

FIG. 6 is a schematic diagram of a mobile chassis external sensor assembly for smart building according to an embodiment.

Fig. 7 is a schematic view of a mobile chassis steering wheel driving mechanism for intelligent construction provided by the embodiment.

FIG. 8 is a schematic structural diagram of a mobile underpan cover for intelligent construction according to an embodiment.

Detailed Description

It should be noted that, for convenience of description, only some parts, not all parts, which are related to the technical solution of the present disclosure, are shown in the drawings.

Before discussing exemplary embodiments in greater detail, it should be noted that the structures of the device components and/or modules themselves mentioned in the embodiments, if not described in detail or labeled in the drawings, are products that can be understood or marketed by those skilled in the art in light of the present disclosure.

As shown in fig. 1 and fig. 6, the utility model provides a mobile chassis for intelligent building, including apron 1, mounting panel 2, bottom frame 3, rudder wheel actuating mechanism 4 and external sensor subassembly 5, external sensor subassembly 5 include laser radar 501, locate mounting panel 2 outer edge for scan obtain two-dimensional space's dot matrix data set up map convenient navigation; four steering wheel driving mechanisms 4 are arranged at four corners of the bottom frame 3 respectively; the mounting panel 2 locate on the curb plate of bottom frame 3, apron 1 locate mounting panel 2 top, apron 1, mounting panel 2 and bottom frame 3 pass through the countersunk head bolt fastening and are a whole.

The steering wheel driving mechanism 4, as shown in fig. 7, preferably includes a steering large gear 401, a steering small gear 402, a steering wheel 403, a steering motor 404, a driving motor 405, a

fixing frame

406, and 2 motor drivers 407, wherein the steering wheel 403 is disposed in the fixing frame 406, the steering large gear 401 is disposed on the fixing frame 406, the steering large gear 401 and the steering wheel 403 are in a vertical state, the steering motor 404 is connected with the steering small gear 402, the steering small gear 402 is engaged with the steering large gear 401, the driving motor 405 is connected with the steering wheel 403, and the 2 motor drivers 407 are respectively connected with the steering motor 404 and the driving motor 405 to control the operation of the steering motor 404 and the driving motor 405, so as to realize independent free rotation of a steering wheel mechanism on an X axis and a Y axis.

The four rudder wheel driving mechanisms 4 are driven by 8 motor drivers 407, and respectively and independently control the rotation of the X axis and the Y axis of the 4 rudder wheels, so that the all-directional movement of the chassis is realized. The four-wheel drive independent control can provide enough power to continue working even if one wheel is in a suspended state, and can also realize the in-situ rotation of the chassis. Furthermore, encoders are provided in the steering motor 404 and the driving motor 405, which can feed back actual movement information by measuring the rotation angle of the motor shaft, thereby assisting in achieving accurate positioning of the chassis.

Further, the steering motor 404 and the driving motor 405 in the steering wheel driving mechanism 4 are selected to be 48V, and the power of the motors is respectively 0.2KW and more than 0.4KW, so that sufficient power is provided for the chassis. The diameter of the steering wheel 403 is more than 250 mm. The linear speed of the movement of the chassis can reach 2.0m/s, the angular speed can reach 4.0rad/s, and the movement performance is superior, so that the obstacle crossing and accurate positioning capability in the building environment can be met.

Preferably, as shown in fig. 6, the laser radar 501 is provided at two or more positions on the mounting plate 2 at two ends of the same diagonal line. Further preferably, dust-proof baffles are arranged above and below the laser radar 501, so that the working positioning accuracy of the laser radar is not interfered while the stable operation of the laser radar is ensured. The external sensor assembly 5 further comprises a bumper strip 502, wherein the bumper strip 502 is arranged on the periphery of the mounting plate 2 and is mainly used for crash emergency stop to prevent accidents.

The bottom frame 3, as shown in fig. 2 and 4, in a preferred embodiment, includes a bottom plate 301, a steering wheel platform 302, a partition 303, and side plates 304, wherein the steering wheel platform 302 is disposed at the front and rear ends of the bottom plate 301, and is used for disposing 4 steering wheel driving mechanisms 4; the partition plate 303 is arranged in the bottom frame 3 and used for partitioning working components fixed on the bottom plate 301, so that necessary working components are protected and isolated, and the working stability of the chassis is enhanced; the side plates 304 are used to support and connect the mounting plate 2.

In a further preferred embodiment, as shown in fig. 4, 5 and 7, 4 rotating discs are arranged in the steering wheel platform 302, the fixing frame 406 of the steering wheel driving mechanism 4 is fixedly connected with the rotating disc at the corresponding position, and the steering wheel driving mechanism 4 is arranged at four corners of the bottom frame 3 through the steering wheel platform 302, so that the free rotation and walking of the chassis are ensured.

Preferably, as shown in fig. 3, the mounting plate 2 is provided with a circuit board 6, a contactor 7, a voltage reduction module 8, an air switch 9 and a wiring port 10, and the contactor 7 is used for preventing starting current from impacting and ensuring smooth current; the voltage reduction modules 8 are two in total and are used for reducing the voltage of the 48V battery into 24V voltage and 12V voltage to supply power to different electronic components; and the air switch 9 is used for protecting the circuit to automatically cut off the circuit when the circuit is overloaded. All electronic components are fixed on the hardware mounting plate by bolts so as to collect internal circuits.

Preferably, as shown in fig. 4 and 5, a battery 11, an industrial personal computer 12, a gyroscope 13, a softrouter 14, a camera 15 and a camera fixing plate 305 are arranged in the bottom frame 3, the battery 11 provides a power source for the whole chassis, and the industrial personal computer 12 is used for collecting and processing data of each sensor and issuing further instructions; the gyroscope 13 is used for measuring the moving angle of the loaded robot and assisting in feeding back position real-time information; the SoftRouter 14 may download instructions to the industrial personal computer in real time for manual remote control of the mobile chassis. The camera 15 plays a role in precise identification and positioning when the camera is docked and stored. The industrial personal computer 12 is used for collecting data of the external sensor assembly 5, the camera 15, the gyroscope 13 and the encoder in the steering wheel motor.

Preferably, as shown in fig. 8, a detachable window 102 and bolt holes are formed in the cover plate 1, and the detachable window 102 is used for maintenance and is used as a channel for up-and-down communication and wiring after the docking module is installed.

Further, the camera fixing plate 305 is a detachable access window, so that the maintenance is convenient.

The above description is provided for the purpose of illustration, but the invention is not limited to the embodiments described, and those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the invention, and such equivalent modifications or substitutions are intended to be included within the scope of the claims.

Claims

1. A mobile chassis for intelligent construction, comprising a cover plate (1), a mounting plate (2), a bottom frame (3), a rudder wheel drive mechanism (4) and an external sensor assembly (5), characterized in that: the external sensor assembly (5) comprises a laser radar (501) which is arranged on the outer edge of the mounting plate (2) and used for scanning and acquiring dot matrix data of a two-dimensional space; the four rudder wheel driving mechanisms (4) are respectively arranged at four corners of the bottom frame (3); the mounting plate (2) is arranged on a side plate of the bottom frame (3), and the cover plate (1) is arranged above the mounting plate (2).

2. The mobile chassis for smart building of claim 1, wherein: the steering wheel driving mechanism (4) comprises a steering large gear (401), a steering small gear (402), steering wheel wheels (403), a steering motor (404), a driving motor (405), a fixed frame (406) and 2 motor drivers (407), the steering wheel wheels (403) are arranged in the fixed frame (406), the steering gearwheel (401) is arranged on the fixed frame (406), the steering gearwheel (401) and the steering wheel wheels (403) are in a vertical state, the steering motor (404) is connected with the steering pinion (402), the steering pinion (402) is meshed with the steering gearwheel (401), the driving motor (405) is connected with the steering wheel (403), 2 motor drivers (407) are respectively connected with the steering motor (404) and the driving motor (405), the work of the steering motor (404) and the driving motor (405) is controlled, and the steering wheel mechanism can independently rotate freely on an X axis and a Y axis.

3. The mobile chassis for smart building of claim 2, wherein: the steering motor (404) and the driving motor (405) in the rudder wheel driving mechanism (4) select 48V, the power of the motors is respectively more than 0.2KW and 0.4KW, and the diameter of the rudder wheel (403) is more than 250 mm.

4. The mobile chassis for smart building of claim 1, wherein: the four rudder wheel driving mechanisms (4) are driven by 8 motor drivers (407) and respectively and independently control the rotation of the X axis and the Y axis of the 4 rudder wheels.

5. The mobile chassis for smart building of claim 2, wherein: encoders are arranged in the steering motor (404) and the driving motor (405) and used for measuring the rotation angle of the motor shaft so as to feed back actual movement information and assist in realizing accurate positioning of the chassis.

6. The mobile chassis for smart building of claim 1, wherein: the laser radar (501) is provided with more than two laser radars which are respectively arranged at the two ends of the same diagonal line on the mounting plate (2).

7. The mobile chassis for smart building of claim 1, wherein: the external sensor assembly (5) further comprises a bumper strip (502), and the bumper strip (502) is arranged on the periphery of the mounting plate (2).

8. The mobile chassis for smart building of claim 1, wherein: the bottom frame (3) comprises a bottom plate (301), a steering wheel platform (302), a partition plate (303) and side plates (304), wherein the steering wheel platform (302) is arranged at the front end and the rear end of the bottom plate (301) and is used for arranging 4 steering wheel driving mechanisms (4); the partition plate (303) is arranged in the bottom frame (3) and is used for partitioning the working components fixed on the bottom plate (301); the side plates (304) are used for supporting and connecting the mounting plate (2).

9. The mobile chassis for smart building of claim 8, wherein: the four-wheel steering system is characterized in that 4 turntables are arranged in the steering wheel platform (302), a fixing frame (406) of the steering wheel driving mechanism (4) is fixedly connected with the turntables at the corresponding positions, and the steering wheel driving mechanism (4) is arranged at four corners of the bottom frame (3) through the steering wheel platform (302).

10. The mobile chassis for smart building of claim 1, wherein: the mounting plate (2) is provided with a circuit board (6), a contactor (7), a voltage reduction module (8), an air switch (9) and a wiring port (10), and the contactor (7) is used for preventing starting current from impacting and ensuring smooth current; the voltage reduction modules (8) are two in total and are used for reducing the voltage of the 48V battery to 24V and 12V voltage to supply power to different electronic elements.

11. The mobile chassis for smart building of claim 1, wherein: a battery (11), an industrial personal computer (12), a gyroscope (13), a softrouter (14), a camera (15) and a camera fixing plate (305) are arranged in the bottom frame (3), the battery (11) provides a power source for the whole chassis, and the industrial personal computer (12) is used for collecting data of an external sensor assembly (5), the camera (15), the gyroscope (13) and a coder in a steering wheel motor and issuing further instructions; the gyroscope (13) is used for measuring the moving angle of the loaded robot and assisting in feeding back position real-time information; the softrouter (14) can download the instruction to an industrial personal computer in real time to carry out manual remote control on the mobile chassis; the camera (15) plays a role in accurate identification and positioning when in butt joint and warehousing.

12. The mobile chassis for smart building of claim 11, wherein: the butt joint module is characterized in that a detachable window (102) and bolt holes are formed in the cover plate (1), and the detachable window (102) is used for overhauling and is used as a channel for up-down communication and wiring after the butt joint module is installed.