CN114802530A - Moving platform and spraying equipment - Google Patents
Moving platform and spraying equipment Download PDFInfo
- Publication number
- CN114802530A CN114802530A CN202110120924.5A CN202110120924A CN114802530A CN 114802530 A CN114802530 A CN 114802530A CN 202110120924 A CN202110120924 A CN 202110120924A CN 114802530 A CN114802530 A CN 114802530A
- Authority
- CN
- China
- Prior art keywords
- driving wheel
- chassis frame
- platform
- chassis
- mobile platform
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000005507 spraying Methods 0.000 title claims abstract description 43
- 230000007246 mechanism Effects 0.000 claims abstract description 129
- 239000007921 spray Substances 0.000 claims description 22
- 238000001514 detection method Methods 0.000 claims description 10
- 230000000712 assembly Effects 0.000 claims description 9
- 238000000429 assembly Methods 0.000 claims description 9
- 230000003068 static effect Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 9
- 238000010422 painting Methods 0.000 description 9
- 230000009471 action Effects 0.000 description 6
- 230000006835 compression Effects 0.000 description 6
- 238000007906 compression Methods 0.000 description 6
- 238000011065 in-situ storage Methods 0.000 description 6
- 239000003973 paint Substances 0.000 description 6
- 238000010276 construction Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 239000000463 material Substances 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000009435 building construction Methods 0.000 description 1
- 230000000994 depressogenic effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
- B60G17/021—Spring characteristics, e.g. mechanical springs and mechanical adjusting means the mechanical spring being a coil spring
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/16—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings
- E01C23/20—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings for forming markings in situ
- E01C23/22—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings for forming markings in situ by spraying
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/20—Stationary vehicle
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Handcart (AREA)
Abstract
The invention discloses a mobile platform and spraying equipment, wherein the mobile platform comprises: platform main part and setting are at the removal chassis of platform main part bottom, and removal chassis includes: a chassis frame; the driving wheel mechanism is arranged at the bottom of the chassis frame, and at least part of the driving wheel mechanism can elastically float along the vertical direction relative to the chassis frame; and the traveling wheels are arranged on the front side and the rear side of the traveling direction of the driving wheel mechanism and are arranged on the chassis frame. The invention keeps the constant pressure of the driving wheel on the ground by the elastic floating of the driving wheel mechanism along the vertical direction, thereby ensuring that the driving wheel mechanism has more stable driving force, ensuring the walking capability of moving obstacle-crossing and rugged road surface, ensuring the normal movement or the static state of the chassis and improving the stability of the posture; the two driving wheel mechanisms are respectively arranged on the left side and the right side of the walking direction, so that the stability of the mobile platform is improved.
Description
Technical Field
The invention relates to the technical field of construction equipment, in particular to a mobile platform and spraying equipment.
Background
At present, the building and real estate industries in China develop rapidly, building construction is required to develop towards a safe, efficient and high-quality direction, meanwhile, labor cost in the building industry is in a trend of rising continuously, particularly, parking space line marking operation in parking space construction engineering of a ground garage is carried out, and the full-flow manual operation is mainly used. In order to realize unmanned and intelligent parking space line marking operation, an omnidirectional moving vehicle (such as Mecanum wheel omnidirectional moving wheels and diagonal double-rudder wheel omnidirectional moving wheels) is adopted as a parking space line marking platform to carry a line marking and painting system.
However, the chassis used for the parking space line marking platform has the following problems due to requirements on the characteristics of the chassis during parking space line marking operation, influences on the field during operation and requirements on transition capacity before and after operation: 1. although the operating field generally does not have abrupt pits and bulges, the number of the gradual pits and bulges is large, and the chassis does not have stable moving capability and omnidirectional moving capability on the rough ground; 2. although there are generally no obstacles and ravines during scribing operations, transitions in complex construction sites are encountered where, for example, deceleration bumps are often found in garages where the chassis does not have the ability to cross obstacles and pass the trench.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a mobile platform which can improve the walking capability of obstacle crossing and uneven road surfaces and improve the stability during walking.
The invention also provides spraying equipment, which improves the walking capability of obstacle-crossing and uneven road surfaces and improves the stability during walking.
A mobile platform according to an embodiment of the present invention includes: platform main part and setting are in the removal chassis of platform main part bottom, remove the chassis and include: a chassis frame; the driving wheel mechanism is arranged at the bottom of the chassis frame, and at least part of the driving wheel mechanism can elastically float along the vertical direction relative to the chassis frame; and the traveling wheels are arranged on the front side and the rear side of the traveling direction of the driving wheel mechanism and are arranged on the chassis frame.
According to the mobile platform provided by the embodiment of the invention, the driving wheel mechanism elastically floats in the vertical direction to keep constant pressure on the ground, so that the driving wheel mechanism has stable driving force, certain obstacle crossing and uneven road surface walking capacity is ensured, and meanwhile, when the mobile platform moves on an obstacle crossing or uneven road surface, the driving wheel mechanism has the capacity of always contacting the ground, the chassis is ensured to normally move or be static, and the attitude stability is improved; the two driving wheel mechanisms are respectively arranged on the left side and the right side of the walking direction, and the walking wheels are arranged on the front side and the rear side of the walking direction, so that the stability of the mobile platform is improved.
In some embodiments, the drive wheel mechanism comprises: the driving wheel assembly can independently walk, and the driving wheel assembly can move up and down relative to the chassis frame; the elastic piece is arranged between the driving wheel assembly and the chassis frame, and two ends of the elastic piece respectively abut against or are connected with the driving wheel assembly and the chassis frame.
In some embodiments, the drive wheel mechanism further comprises: the mounting seat is arranged on the chassis frame, the elastic piece abuts against or is connected with the chassis frame through the mounting seat, and the driving wheel assembly is arranged on the chassis frame.
In some embodiments, the drive wheel mechanism further comprises: the guide assembly is arranged between the mounting seat and the driving wheel assembly.
In some embodiments, the front and rear sides of the mounting seat in the traveling direction are provided with the guide assemblies, and the elastic member is arranged between the guide assemblies on the front and rear sides.
In some embodiments, the guide assembly comprises: the guide sleeve and the guide post are arranged in the guide sleeve, one of the guide sleeve and the guide post is arranged on the driving wheel component, and the other of the guide sleeve and the guide post is arranged on the mounting seat.
In some embodiments, the mobile platform further comprises: rotation mechanism, rotation mechanism establishes the platform main part with between the chassis underframe, rotation mechanism establishes on the chassis underframe, rotation mechanism connects the platform main part is with the drive the platform main part rotates.
In some embodiments, the travelling wheels are universal wheels, the two driving wheel mechanisms are disposed on the left and right sides of the travelling direction, the two driving wheel mechanisms are configured to travel in opposite directions to each other to drive the chassis frame to rotate in place in the first direction by a first angle, and the swing mechanism can drive the platform main body to rotate in a direction opposite to the first direction by a second angle equal to the first angle.
In some embodiments, the chassis frame is pivotally connected to the platform body to support the platform body, the swing mechanism is a swing motor, the swing motor is disposed on the chassis frame, and a motor shaft of the swing motor is connected to the platform body.
In some embodiments, a pose detection member is provided on the platform main body, and the pose detection member is electrically connected to the rotary motor to detect the pose of the platform main body and control the rotary motor.
A spray coating device according to an embodiment of the present invention includes: the above-mentioned moving platform; and the spraying device is arranged on the platform main body.
According to the spraying equipment provided by the embodiment of the invention, the driving wheel mechanism keeps constant pressure on the ground through elastic floating of the driving wheel mechanism in the vertical direction, so that the driving wheel mechanism has relatively stable driving force, certain walking capability of obstacle-crossing and uneven road surfaces is ensured, and the spraying effect is improved; establish respectively in the left and right sides of walking direction through two drive wheel mechanisms, the walking wheel is established in both sides around the walking direction, improves moving platform's stability, further improves the spraying effect.
In some embodiments, the spray coating device comprises: the guide rail is arranged on the platform main body; the moving mechanism is arranged on the guide rail and can move along the guide rail; and the spray gun mechanism is arranged on the moving mechanism.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a first schematic structural diagram of a mobile platform according to an embodiment of the present invention;
FIG. 2 is a second schematic structural diagram of a mobile platform according to an embodiment of the present invention;
FIG. 3 is a first schematic structural diagram of a driving wheel mechanism according to an embodiment of the present invention;
FIG. 4 is a second schematic structural diagram of a driving wheel mechanism according to an embodiment of the present invention;
FIG. 5 is a first turning schematic diagram of the mobile platform according to the embodiment of the present invention;
FIG. 6 is a second turning schematic diagram of the mobile platform according to the embodiment of the present invention;
FIG. 7 is a third exemplary turning view of the mobile platform according to the present invention;
FIG. 8 is a fourth exemplary turning view of the mobile platform according to the present invention;
FIG. 9 is a first diagram illustrating movement of a mobile platform according to an embodiment of the present invention;
FIG. 10 is a second schematic diagram illustrating movement of the mobile platform according to an embodiment of the present invention;
FIG. 11 is a third schematic moving diagram of the mobile platform according to the embodiment of the present invention;
FIG. 12 is a first schematic structural view of a spraying apparatus according to an embodiment of the present invention;
FIG. 13 is a second schematic structural view of a spray coating apparatus according to an embodiment of the present invention;
FIG. 14 is a first schematic view of a spray coating apparatus according to an embodiment of the present invention;
FIG. 15 is a second schematic spray illustration of a spray apparatus according to an embodiment of the present invention;
FIG. 16 is a third schematic view of the spray coating device of the embodiment of the present invention;
fig. 17 is a fourth schematic view of the spraying apparatus in the embodiment of the present invention.
Reference numerals:
100. a mobile platform;
10. moving the chassis;
11. a chassis frame;
12. a drive wheel mechanism; 121. a mounting base; 122. a drive wheel assembly; 1221. a motor base; 1222. a drive motor; 1223. a wheel; 123. a guide assembly; 1231. a guide sleeve; 1232. a guide post; 124. an elastic member;
13. a traveling wheel;
20. a platform body; 30. a swing mechanism;
1000. spraying equipment; 200. a spraying device; 201. a guide rail; 202. a moving mechanism; 203. a spray gun mechanism.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
Furthermore, features defined as "first" and "second" may explicitly or implicitly include one or more of the features for distinguishing between descriptive features, non-sequential, non-trivial and non-trivial.
In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The mobile platform 100 according to the embodiment of the present invention will be described with reference to the accompanying drawings.
As shown in fig. 1 and 2, a mobile platform 100 according to an embodiment of the present invention includes: a platform body 20 and a moving chassis 10 disposed at the bottom of the platform body 20.
The platform body 20 may be equipped with an actuator to perform various construction operations, or may be equipped with a worker to perform operations.
The moving chassis 10 includes: chassis frame 11, driving wheel mechanism 12 and road wheels 13.
The driving wheel mechanism 12 is arranged at the bottom of the chassis frame 11, and at least part of the driving wheel mechanism 12 can elastically float in the vertical direction relative to the chassis frame 11, that is, the driving wheel 12 designed in this way can improve the adaptability in the driving process, for example, when encountering a sunken ground, the driving wheel mechanism 12 partially elastically stops against the sunken ground downwards, thereby ensuring that the driving wheel mechanism 12 can continuously improve the driving force for stable forward movement; when the vehicle runs on a convex ground, the driving wheel mechanism 12 floats upwards, so that obstacle surmounting can be realized, the bumping degree is reduced, and the traveling capacity on the uneven road surface is improved.
The front side and the rear side of the traveling direction of the driving wheel mechanism 12 are provided with traveling wheels 13, each traveling wheel 13 is arranged on the chassis frame 11, and the traveling wheels 13 on the front side and the rear side of the traveling direction are matched with the driving wheel mechanism 12 at the bottom, so that the traveling stability of the mobile chassis 10 on uneven ground can be improved, for example, as shown in fig. 9 to 11, an obstacle appears in front of traveling, when the obstacle passes through the traveling wheels 13 in front, the driving wheel mechanism 12 in the middle position is elastically supported on the ground downwards, the bumping degree behind the chassis frame 11 is reduced, and the chassis frame 11 cannot generate obvious head-up action; when the obstacle passes through the driving wheel mechanism 12, the driving wheel mechanism 12 elastically floats over the obstacle, and the whole chassis frame 11 cannot tilt; when the obstacle passes through the rear road wheels 13, the driving wheel mechanism 12 in the middle position is elastically supported on the ground downwards, so that the bumping degree in front of the chassis frame 11 is reduced, and the chassis frame 11 cannot generate obvious 'nodding' action.
According to the mobile platform 100 of the embodiment of the invention, the driving wheel mechanism 12 keeps constant pressure on the ground through elastic floating along the vertical direction, so that the driving wheel mechanism 12 has stable driving force, and certain walking capability of obstacle crossing and uneven road surfaces is ensured. Meanwhile, when the mobile platform 100 moves across obstacles or on a rugged road, the driving wheel mechanism 12 has the capability of always contacting the ground, so that the chassis is ensured to normally move or be static, and the stability of the posture is improved; the two driving wheel mechanisms 12 are respectively arranged at the left side and the right side of the traveling direction, and the traveling wheels 13 are arranged at the front side and the rear side of the traveling direction, so that the stability of the mobile platform 100 is improved.
As shown in fig. 3 and 4, in some embodiments, the driving wheel mechanism 12 includes: a drive wheel assembly 122, a resilient member 124.
The driving wheel assembly 122 can travel independently, and the driving wheel assembly 122 can move up and down relative to the chassis frame 11. The elastic member 124 is disposed between the driving wheel assembly 122 and the chassis frame 11, and two ends of the elastic member 124 respectively abut against or are connected to the driving wheel assembly 122 and the chassis frame 11, that is, the elastic member 124 can make the driving wheel assembly 122 float up and down relative to the chassis frame 11 in an abutting manner, and the elastic member 124 is also directly connected to the driving wheel assembly 122 and the chassis frame 11, so as to ensure that the connection between the driving wheel assembly 122 and the chassis frame 11 is better while the floating action is improved.
As shown in fig. 3 and 4, in some embodiments, the driving wheel mechanism 12 further includes: the mounting seat 121, the mounting seat 121 is provided on the chassis frame 11, the elastic member 124 abuts against or is connected to the chassis frame 11 through the mounting seat 121, and the driving wheel assembly 122 is mounted on the chassis frame 11.
As shown in fig. 3 and 4, in some embodiments, the driving wheel mechanism 12 further includes: and the guide assembly 123 is arranged between the mounting seat 121 and the driving wheel assembly 122.
Specifically, the elastic member 124 is a compression spring, the mounting seat 121 is rigidly fixed to the chassis frame 11, the driving wheel assembly 122 is connected to the mounting seat 121 through the guide member 123 and the elastic member 124, the guide member 123 allows the driving wheel assembly 122 to move up and down relative to the mounting seat 121, and the compression spring allows the mounting seat 121 to maintain a force away from the mounting seat 121. As shown in fig. 9, 10 and 11, when the vehicle encounters a convex ground, the compression spring is compressed, the driving wheel assembly 122 keeps in contact with the ground, and when the vehicle encounters a concave ground, the compression spring is released, the driving wheel assembly 122 keeps in contact with the ground, so that the traveling capacity of the mobile platform 100 on obstacle-crossing and uneven ground is improved, and the stability during traveling is improved.
As shown in fig. 4, in some embodiments, the driving wheel assembly 122 is provided with guide assemblies 123 at front and rear sides in the walking direction, and the elastic member 124 is disposed between the guide assemblies 123 at the front and rear sides, which is simple in structure and strong in stability, so that the driving wheel assembly 122 has better elastic floating.
As shown in fig. 3 and 4, in some embodiments, the guiding assembly 123 includes: a guide sleeve 1231 and a guide post 1232 disposed within the guide sleeve 1231, one of the guide sleeve 1231 and the guide post 1232 being disposed on the drive wheel assembly 122 and the other on the mount 121. For example, the guiding sleeve 1231 is disposed on the driving wheel assembly 122, the guiding column 1232 is disposed in the guiding sleeve 1231, and the guiding column 1232 is connected to the mounting seat 121. When encountering a convex ground, the driving wheel assembly 122 is lifted by the ground, the guide post 1232 retracts into the guide sleeve 1231, and the driving wheel assembly 122 is lifted to continuously keep in contact with the ground; when a depressed ground surface is encountered, drive wheel assembly 122 lacks ground support, guide post 1232 extends from within guide housing 1231, and drive wheel assembly 122 drops to continue to maintain contact with the ground surface.
In some embodiments, as shown in fig. 2, the mobile platform 100 further comprises: a swing mechanism 30, the swing mechanism 30 being disposed between the platform body 20 and the chassis frame 11, the swing mechanism 30 being disposed on the chassis frame 11, the swing mechanism 30 being connected to the platform body 20 to drive the platform body 20 to rotate. It is understood that the platform body 20 can rotate relative to the chassis frame 11 through the swing mechanism 30, thereby adjusting the posture of the platform body 20 and realizing construction work in other directions.
As shown in fig. 5 to 8, in some embodiments, the traveling wheels 13 are universal wheels, the driving wheel mechanisms 12 are two and disposed at the left and right sides of the traveling direction, the two driving wheel mechanisms 12 are configured to travel in opposite directions to each other to drive the chassis frame 11 to rotate in place in the first direction by a first angle, and the swing mechanism 30 can drive the platform body 20 to rotate in a direction opposite to the first direction by a second angle equal to the first angle. It can be understood from the above description that the rotation axis of the platform body 20 and the rotation axis of the chassis frame 11 are distributed along the same axis, the platform body 20 can rotate relative to the chassis frame 11 by using the center of the chassis frame 11 as the rotation center through the swing mechanism 30, and then rotate reversely by the same angle through the two driving wheel mechanisms 12, so that the platform body 20 is almost stationary relative to the ground, that is, the posture is kept unchanged, and the chassis frame 11 can be adjusted to walk in any advancing direction, so as to realize the translation of the platform body in any direction.
As shown in fig. 2, in some embodiments, the chassis frame 11 is pivotally connected to the platform body 20 to support the platform body 20, the swing mechanism 30 is a swing motor provided on the chassis frame 11, and a motor shaft of the swing motor is connected to the platform body 20. It should be noted that the motor shaft and the platform main body are only circumferentially fixed, so that the rotary motor is prevented from bearing a large axial force, the rotary motor is protected, meanwhile, the body of the rotary motor is directly fixed on the chassis frame 11, and the platform main body 20 and the chassis frame 11 are only axially fixed, so that the platform main body 20 rotates relative to the chassis frame 11.
In some embodiments, a posture detecting member (not shown) is provided on the platform main body 20, and the posture detecting member is electrically connected to the rotary motor to detect the posture of the platform main body 20 and control the rotary motor.
Specifically, the pose detection member may be a gyroscope, the gyroscope is arranged at any position on the platform main body 20, the pose of the platform main body 20 is detected by the gyroscope, the gyroscope is electrically connected with the rotary motor to form closed-loop control, when the chassis frame 11 rotates in situ, the motor shaft of the rotary motor rotates reversely by the same angle according to the pose detection result, and the chassis frame 11 can rotate to any direction when the platform main body 20 is almost still relative to the ground. Certainly, it should be noted that the pose detection unit is not limited to a gyroscope, and other schemes capable of detecting the pose of the vehicle body may be used, and are not described herein again.
In some embodiments, the speed linkage between the two driving wheel mechanisms 12 realizes the forward movement, backward movement, turning during the forward movement or backward movement, pivot rotation, and the like of the mobile platform 100 through the speed linkage.
As shown in fig. 3, in some embodiments, the drive wheel assembly 122 includes: motor cabinet 1221, driving motor 1222, wheel 1223. The driving motors 1222 and the wheels 1223 are mounted on the motor base 1221, the motor base 1221 is connected to the mounting base 121 through the guiding assembly 123 and the elastic member 124, the wheels 1223 are driven to rotate by the two driving motors 1222, and a rotary motor of the driving platform main body 20 is matched, so that the translation function can be realized by three motors in total, which has lower cost compared with the existing omnidirectional moving chassis, for example, a mecanum wheel chassis and a diagonal idler wheel chassis in the omnidirectional moving chassis need at least four motors.
As shown in fig. 2, in some embodiments, a plurality of road wheels 13 are provided, wherein three road wheels 13 are most preferable, and a stable supporting surface is formed by three road wheels 13, so that stability is increased. Specifically, the number of the traveling wheels 13 is three, the driving wheel mechanisms 12 are respectively arranged on the left side and the right side of the traveling direction, the chassis frame 11 is provided with the two driving wheel mechanisms 12 and the three traveling wheels 13, the driving wheel mechanisms 12 are connected with the chassis frame 11 through the elastic pieces 124 to provide power for advancing, retreating and pivot steering, the traveling wheels 13 are directly and rigidly connected with the chassis frame 11, and the three traveling wheels 13 form a stable supporting surface, so that head raising and nodding actions cannot be easily generated when the mobile platform 100 is accelerated or decelerated urgently, and the stability is improved.
In some embodiments, the traveling wheels 13 may also be omni wheels, and the two driving wheel mechanisms 12 are matched to travel reversely, so that pivot steering can be realized.
One embodiment of the mobile platform 100 of the present invention is described below with reference to fig. 1 to 11.
A mobile platform 100 comprising: a mobile chassis 10, a platform body 20, a swing mechanism 30.
The moving chassis 10 includes: chassis frame 11, two drive wheel mechanism 12, three walking wheel 13 are the universal wheel.
The two driving wheel mechanisms 12 are respectively disposed at left and right sides of the chassis frame 11 in the traveling direction, and the two driving wheel mechanisms 12 are configured to travel in opposite directions to each other to drive the chassis frame 11 to rotate in situ by a first angle in the first direction. The speed linkage between the two driving wheel mechanisms 12 realizes the actions of forward movement, backward movement, turning during forward movement or backward movement, pivot rotation and the like of the mobile platform 100 through the speed linkage.
The drive wheel mechanism 12 includes: the mounting seat 121, the driving wheel assembly 122, the guide assembly 123 and the elastic member 124, wherein the mounting seat 121 is arranged on the chassis frame 11; the driving wheel assembly 122 can independently travel, the guiding assemblies 123 are arranged between the mounting seat 121 and the driving wheel assembly 122, and meanwhile, the guiding assemblies 123 are arranged on the front side and the rear side of the traveling direction of the driving wheel assembly 122.
The drive wheel assembly 122 includes: motor base 1221, driving motor 1222, wheel 1223, driving motor 1222 and wheel 1223 are installed on motor base 1221, and motor base 1221 is connected with mounting base 121 through guide assembly 123 and elastic member 124.
The guide assembly 123 includes: the guide sleeve 1231 and the guide column 1232 are arranged, the guide sleeve 1231 is arranged on the driving wheel assembly 122, the guide column 1232 is sleeved in the guide sleeve 1231, and the guide column 1232 is connected with the mounting seat 121; the elastic member 124 is a compression spring, one end of the elastic member 124 abuts against the mounting seat 121 and the other end abuts against the driving wheel assembly 122, and meanwhile, the elastic member 124 is disposed between the two guiding assemblies 123.
Three walking wheels 13 are arranged on the front side and the rear side of the walking direction of the driving wheel mechanism 12, two universal wheels are arranged on the front side of the chassis frame 11, one universal wheel is arranged on the rear side of the chassis frame 11, each walking wheel 13 is arranged on the chassis frame 11, and the three walking wheels 13 form a stable supporting surface and three walking wheels 13.
The platform body 20 is disposed on the chassis frame 11, the swing mechanism 30 is disposed between the platform body 20 and the chassis frame 11, the swing mechanism 30 is disposed on the chassis frame 11, the swing mechanism 30 is connected to the platform body 20 to drive the platform body 20 to rotate, and the swing mechanism 30 can drive the platform body 20 to rotate in a direction opposite to the first direction by a second angle, which is equal to the first angle.
The chassis frame 11 is pivotally connected to the platform body 20 to support the platform body 20, the swing mechanism 30 includes a swing motor provided on the chassis frame 11, a motor shaft of the swing motor is connected to the platform body 20 to drive the platform body 20 to rotate, and at the same time, the posture detector is electrically connected to the swing motor to detect the posture of the platform body 20 and control the swing motor.
Any position on the platform main body 20 is provided with a pose detection piece which is a gyroscope, the pose detection piece detects the pose of the platform main body 20 through the gyroscope and is electrically connected with the rotary motor to form closed-loop control, so that when the chassis frame 11 rotates in situ, the motor shaft of the rotary motor rotates reversely by the same angle according to the pose detection result.
The mobile platform 100 of the present invention has the capability of keeping the posture of the platform main body 20 unchanged and performing translation in any direction depending on the chassis frame 11; when the mobile platform 100 is accelerated and decelerated suddenly, the mobile platform 100 does not generate head-up and nodding actions; because the driving wheel assembly 122 always generates pressure on the ground due to the compression spring, the wheels 1223 of the driving wheel assembly 122 are always tightly attached to the ground under the condition of various complex pavements, so that the wheels 1223 have stable driving force, and certain walking capacity of crossing ditches, obstacles and uneven pavements is ensured.
As shown in fig. 12 and 13, a spray coating device 1000 according to an embodiment of the present invention includes: a mobile platform 100 and a spraying device 200. The painting device 200 is provided on the deck body 20, and it is understood that the painting apparatus 100 may constitute an automatic painting apparatus for painting a ground pattern or an automatic painting apparatus for a road marking.
According to the spraying equipment 1000 provided by the embodiment of the invention, the driving wheel mechanism 12 keeps constant pressure on the ground through elastic floating of the driving wheel mechanism 12 in the vertical direction, so that the driving wheel mechanism 12 has stable driving force, certain walking capability of obstacle-crossing and uneven road surfaces is ensured, and the spraying effect is improved; the two driving wheel mechanisms 12 are respectively arranged at the left side and the right side of the walking direction, and the walking wheels 13 are arranged at the front side and the rear side of the walking direction, so that the stability of the mobile platform 100 is improved, and the spraying effect is further improved.
As shown in fig. 12 and 13, in some embodiments, the spray coating device 200 includes: a guide rail 201, a moving mechanism 202 and a spray gun mechanism 203. The guide rail 201 is provided on the platform body 20, the moving mechanism 202 is provided on the guide rail 201 and is movable along the guide rail 201, and the spray gun mechanism 203 is provided on the moving mechanism 202. Specifically, both the left and right ends of the guide rail 201 exceed the platform main body 20, and the moving mechanism 202 can move left and right on the guide rail 201 to any end, so that the spray gun can spray on both the left and right sides of the platform main body 20.
One specific embodiment of the spray coating device 1000 of the present invention is described below.
As shown in fig. 1, a spray coating device 1000 includes: a mobile platform 100 and a spraying device 200.
The painting device 200 is provided on the platform body 20 for marking a parking space. The spray coating device 200 includes: a guide rail 201, a moving mechanism 202 and a spray gun mechanism 203. The guide rail 201 is provided on the stage main body 20, the moving mechanism 202 is provided on the guide rail 201 and is movable along the guide rail 201, and the spray gun mechanism 203 is provided on the moving mechanism 202. Both the left end and the right end of the guide rail 201 exceed the platform main body 20, and the moving mechanism 202 can move left and right on the guide rail 201 to any end, so that the spray gun can spray on both the left side and the right side of the platform main body 20.
The working principle of the spraying device 1000 is described below:
after the spraying device 200 reaches a preset place, spraying the scribing paint while moving; the platform main body 20 keeps the posture unchanged, the moving chassis 10 rotates for a predetermined angle, as shown in fig. 5 to 8, the spraying device 1000 turns 90 degrees in situ, the two driving wheel mechanisms 12 rotate counterclockwise first, the three universal wheels rotate counterclockwise along with the two driving wheel mechanisms 12, and only the two driving wheel mechanisms 12 rotate 90 degrees in situ, so that the spraying device 1000 turns 90 degrees in situ.
The painting device 200 continues to move while painting the scribing paint while the moving mechanism 202 moves from one end of the guide rail 201 to the other end.
As shown in fig. 14 to 17, after the spray coating device 200 reaches a predetermined place, the spray coating device 200 moves forward while the spray gun mechanism 203 sprays the paint for marking, and the platform main body 20 maintains the posture; after the set length of the scribing is finished, the movable chassis 10 rotates clockwise by 90 degrees, the spraying device 200 moves rightwards, the spraying gun mechanism 203 sprays scribing paint, and meanwhile, the moving mechanism 202 moves from the left end of the guide rail 201 to the right end of the guide rail 201; the moving chassis 10 continues to rotate clockwise by 90 degrees, the spraying device 200 moves backwards, meanwhile, the spray gun mechanism 203 sprays the line-drawing paint, and the platform main body 20 keeps the posture unchanged; after the scribing with the same set length is finished, the movable chassis 10 rotates clockwise by 90 degrees, the spraying device 200 moves leftwards, the spraying gun mechanism 203 sprays scribing paint, and meanwhile, the moving mechanism 202 moves from the right end of the guide rail 201 to the left end of the guide rail 201, so that the scribing of the whole parking space is finished.
The operation of the movement mechanism 202 and the spray gun mechanism 203 of the spray coating device 1000 according to an embodiment of the present invention are known to those of ordinary skill in the art and will not be described in detail herein.
In the description herein, references to the description of the terms "embodiment," "example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (12)
1. A mobile platform, comprising:
platform main part and setting are in the removal chassis of platform main part bottom, remove the chassis and include:
a chassis frame;
the driving wheel mechanism is arranged at the bottom of the chassis frame, and at least part of the driving wheel mechanism can elastically float along the vertical direction relative to the chassis frame;
and the traveling wheels are arranged on the front side and the rear side of the traveling direction of the driving wheel mechanism and are arranged on the chassis frame.
2. The mobile platform of claim 1, wherein the drive wheel mechanism comprises:
the driving wheel assembly can independently walk, and the driving wheel assembly can move up and down relative to the chassis frame;
the elastic piece is arranged between the driving wheel assembly and the chassis frame, and two ends of the elastic piece respectively abut against or are connected with the driving wheel assembly and the chassis frame.
3. The mobile platform of claim 2, wherein the drive wheel mechanism further comprises:
the mounting seat is arranged on the chassis frame, the elastic piece abuts against or is connected with the chassis frame through the mounting seat, and the driving wheel assembly is arranged on the chassis frame.
4. The mobile platform of claim 3, wherein the drive wheel mechanism further comprises:
the guide assembly is arranged between the mounting seat and the driving wheel assembly.
5. The mobile platform of claim 4, wherein the guide assemblies are disposed on front and rear sides of the mounting seat along the traveling direction, and the elastic member is disposed between the guide assemblies on the front and rear sides.
6. The mobile platform of claim 4, wherein the guide assembly comprises:
the guide sleeve and the guide post are arranged in the guide sleeve, one of the guide sleeve and the guide post is arranged on the driving wheel component, and the other of the guide sleeve and the guide post is arranged on the mounting seat.
7. The mobile platform of claim 1, further comprising:
rotation mechanism, rotation mechanism establishes the platform main part with between the chassis underframe, rotation mechanism establishes on the chassis underframe, rotation mechanism connects the platform main part is with the drive the platform main part rotates.
8. The mobile platform of claim 7, wherein the travel wheels are universal wheels, the two drive wheel mechanisms are disposed on the left and right sides of the travel direction, the two drive wheel mechanisms are configured to travel in opposite directions to each other to drive the chassis frame to rotate in place in the first direction by a first angle, and the swing mechanism drives the platform body to rotate in a direction opposite to the first direction by a second angle equal to the first angle.
9. The mobile platform of claim 7, wherein the chassis frame is pivotally connected to the platform body to support the platform body, the swing mechanism is a swing motor provided on the chassis frame, and a motor shaft of the swing motor is connected to the platform body.
10. The mobile platform of claim 9, wherein the platform body is provided with a pose detection member, and the pose detection member is electrically connected to the rotary motor to detect the pose of the platform body and control the rotary motor.
11. A spray coating device, comprising:
a mobile platform according to any one of claims 1 to 10;
and the spraying device is arranged on the platform main body.
12. A spray assembly according to claim 11 wherein said spray means comprises:
the guide rail is arranged on the platform main body;
the moving mechanism is arranged on the guide rail and can move along the guide rail;
and the spray gun mechanism is arranged on the moving mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110120924.5A CN114802530A (en) | 2021-01-28 | 2021-01-28 | Moving platform and spraying equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110120924.5A CN114802530A (en) | 2021-01-28 | 2021-01-28 | Moving platform and spraying equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114802530A true CN114802530A (en) | 2022-07-29 |
Family
ID=82526289
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110120924.5A Pending CN114802530A (en) | 2021-01-28 | 2021-01-28 | Moving platform and spraying equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114802530A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115366598A (en) * | 2022-10-26 | 2022-11-22 | 福建省威盛机械发展有限公司 | Vehicle chassis and vehicle |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203696340U (en) * | 2013-12-18 | 2014-07-09 | 北汽福田汽车股份有限公司 | Slewing gear for welding platform and welding platform |
| CN108263157A (en) * | 2018-01-31 | 2018-07-10 | 北京理工华汇智能科技有限公司 | Robot chassis and the robot for including it |
| CN109968311A (en) * | 2017-12-28 | 2019-07-05 | 沈阳新松机器人自动化股份有限公司 | A kind of walking chassis mechanism and robot |
| CN210787863U (en) * | 2019-08-09 | 2020-06-19 | 广州沃迪森汽车零部件有限公司 | Spraying revolving stage |
-
2021
- 2021-01-28 CN CN202110120924.5A patent/CN114802530A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203696340U (en) * | 2013-12-18 | 2014-07-09 | 北汽福田汽车股份有限公司 | Slewing gear for welding platform and welding platform |
| CN109968311A (en) * | 2017-12-28 | 2019-07-05 | 沈阳新松机器人自动化股份有限公司 | A kind of walking chassis mechanism and robot |
| CN108263157A (en) * | 2018-01-31 | 2018-07-10 | 北京理工华汇智能科技有限公司 | Robot chassis and the robot for including it |
| CN210787863U (en) * | 2019-08-09 | 2020-06-19 | 广州沃迪森汽车零部件有限公司 | Spraying revolving stage |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115366598A (en) * | 2022-10-26 | 2022-11-22 | 福建省威盛机械发展有限公司 | Vehicle chassis and vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US5535843A (en) | Traveling carriage | |
| CN109436119B (en) | Non-contact wheel type wall-climbing robot chassis device | |
| US20210101630A1 (en) | Wheel drive apparatus of automated guided vehicle | |
| KR19990077303A (en) | Magnetic Driving Method for Wall Adsorption Transfer Device and Wall Adsorption Transfer Device | |
| KR20220102645A (en) | Suspension unit, suspension damping unit and 6 wheel bionic chassis | |
| CN1498177A (en) | Floating drive for vehicle | |
| CN111497931B (en) | Guide vehicle | |
| CN111301087B (en) | Robot chassis | |
| KR20210152271A (en) | Movable object | |
| CN114802530A (en) | Moving platform and spraying equipment | |
| JP2005342818A (en) | One-leg spherical wheel moving robot | |
| CN217610820U (en) | Walking equipment wheelset structure and cleaning robot | |
| CN113276983A (en) | Wheeled chassis and walking equipment | |
| US20100219005A1 (en) | Suspension for a telepresence robot | |
| CN218877394U (en) | AGV chassis structure and AGV dolly | |
| CN114644049B (en) | Wheel type obstacle crossing robot chassis | |
| KR100320806B1 (en) | suspension system for electric vehicles | |
| JP2023044065A (en) | moving body | |
| CN113771985A (en) | Wheeled chassis and walking equipment | |
| CN211765972U (en) | Mobile device and construction robot | |
| CN109130749B (en) | AGV dolly | |
| CN221340857U (en) | Floating chassis and AGV trolley | |
| CN110778067B (en) | Movement device, building robot and building construction system | |
| CN211336238U (en) | Automatic guide transport vechicle chassis and automatic guide transport vechicle | |
| JPH03154790A (en) | Working vehicle maneuverable responsively to undulating terrain |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20220729 |
|
| RJ01 | Rejection of invention patent application after publication |