CN104890460B - A kind of Multifunction polar region detects dolly - Google Patents
A kind of Multifunction polar region detects dolly Download PDFInfo
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- CN104890460B CN104890460B CN201510298755.9A CN201510298755A CN104890460B CN 104890460 B CN104890460 B CN 104890460B CN 201510298755 A CN201510298755 A CN 201510298755A CN 104890460 B CN104890460 B CN 104890460B
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- spherical body
- foldable
- dolly
- wheel
- propeller
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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Abstract
The invention discloses a kind of Multifunction polar region detects dolly, including spherical body, the both sides of described spherical body are provided with wheel, and spherical body front is provided with the mechanical hand for collecting sample, are provided with the receiver placing sample below mechanical hand；The front upper of spherical body and reverse side top are mounted on the rotatable photographic head to be detected to the top to bottom, left and right, front and rear detecting dolly；Spherical body top is connected with by rotary shaft and drives the foldable king bolt oar detecting dolly flight, the top of spherical body is provided with the solar panel for charging to the accumulator being in spherical internal body, and solar panel is provided with the aperture passing through for rotary shaft.The present invention has merged remote data transmission and the technology such as controls, multi-mode drive system, solar energy energy supply, have the advantages that structure is simple, detect quick and precisely, the multiple landform of adaptation, cruising time long.
Description
Technical field
The present invention relates to a kind of detect dolly, more particularly, to a kind of Multifunction polar region detects dolly.
Background technology
At present, earth population grows with each passing day, and natural resourcess are more and more nervous, assumes the trend of scarcity, and therefore people step up
To the earth even exploration of the unknown region such as extraterrestrial (as moon).The south of the such as earth, north the two poles of the earth, are that the mankind are not temporarily extensive
Explore unknown region, the especially South Pole, it be not developed so far on the earth, unpolluted cleaning continent, contain there
Mystery and the information of countless science.In global resources exploration with global climate change study, there is irreplaceable key
Status, more and more country payes attention to the investigation to south poles and research in the world.Therefore, polar region being detected will with data acquisition
Become more and more important, and due to polar region bad environments, people cannot be close to corresponding area in some cases.In nowadays science and technology at a high speed
In the epoch of development, remote controlled unmanned probing dolly is just widely used in this field, and technology is also ripe all the more, they
Possess the functions such as detection, collection, photograph respectively, certain adaptability is had to severe natural environment.But, modern detection
Dolly exist very flexible, exploration context narrow and small, by property is poor, the problems such as continuous working period is short, this will be unfavorable for people
Scene is carried out comprehensively, timely reconnoitre.Therefore, detect the practicality of dolly, rapidity, accuracy all the more by people institute
Value, progressively become the main standard evaluating various detectors.
Nowadays, domestic unmanned probing dolly independent research product gets more and more, but most of complex structure, economic and practical
Low, unsatisfactory with performance using function.There is the detection dolly of wheel or track drive more than minority on the market, can meet people's
Basic work requirement, but it is not provided simultaneously with flight performance；There are some unmanned probing devices to possess certain low-level capability, detect
Motility preferably, but cannot accurately collecting sample on the spot on the ground；Some unmanned probing dollies are also had to be furnished with comprehensive taking the photograph
As head, can fast and accurately determine the orientation of object, be provided simultaneously with mechanical hand also can collect specimen, but its whole machine often volume
Big and poor by property.It is similar in existing product although major part can meet people carries out unmanned probing in above-mentioned great majority
With the requirement of sampling, but these detect the most of complex structures of dolly, and manufacturing cost is high.Meanwhile, complicated structure makes detection little
The volume of car greatly increases, and reduces the kinematic dexterity of detector, and take turns more or crawler type drive also make such detection little
Car energy consumption increases, and it tends to be difficult to realize the supply of the energy under the adverse circumstances such as polar region, such detects dolly and just cannot grow
Time service.
Content of the invention
Detection vehicle structure for overcoming traditional is complicated, bulky, by poor performance it is impossible to be suitable for the landform of complexity,
Energy consumption is big simultaneously, and manufacturing price is expensive, the shortcomings of the working time is short, the invention provides a kind of Multifunction polar region detect little
Car.The present invention has merged remote data transmission and the technology such as control, multi-mode drive system, solar energy energy supply, has structure letter
Single, detect quick and precisely, adapt to multiple landform, cruising time long the advantages of.
For reaching above-mentioned technique effect, the technical scheme is that：
A kind of Multifunction polar region detects dolly, and including spherical body, the both sides of described spherical body are provided with wheel, ball
Shape body front is provided with the mechanical hand for collecting sample, is provided with the receiver placing sample below mechanical hand；Spherical body
Front upper and reverse side top be mounted on rotatable with to the shooting that detected of top to bottom, left and right, front and rear detecting dolly
Head；Spherical body top is connected with by rotary shaft and drives the foldable king bolt oar detecting dolly flight, the top of spherical body
Portion is provided with the solar panel for charging to the accumulator being in spherical internal body, and solar panel is provided with confession
The aperture that rotary shaft passes through.
On rear side of spherical body, afterbody is provided with foldable minor spiral oar, and described foldable minor spiral oar includes propeller drive
Axle, fixed seat, left foldable blade and right foldable blade；Foldable minor spiral oar passes through propeller drive shaft and spherical body
Connect；Propeller drive shaft top is provided with fixed seat, and fixed seat is provided with left rail and right guide rail；Left foldable blade is installed
On left rail, right foldable blade is arranged on right guide rail；It is provided with left foldable blade and right foldable leaf in fixed seat
The retractor device that piece is shunk and launched.
Described wheel is driven by the left wheel motor and right wheel drive motors being in spherical internal body respectively；
Foldable king bolt oar is driven by being in the top propeller motor of spherical internal body；Spherical internal body is provided with root
It is turned on or off the charge function of solar panel according to the electric energy service condition of accumulator to prevent accumulator overshoot or mistake
The charge control module of degree electric discharge；Spherical internal body is additionally provided with the remote control module that can receive remote control signal, remote control module
It is connected with the drive control module controlling the respective rotating speed of left wheel motor and right wheel drive motors；Foldable minor spiral oar
Driven by the rear side propeller motor being in spherical internal body；Rear side propeller motor has can multi-angle regulation
Output shaft, be provided with spherical body control output shaft adjust angle to control the spiral of the anglec of rotation of foldable minor spiral oar
Motor and the upper and lower motor of propeller shaft about oar axle.
Further improvement, the height with diameter greater than spherical body of described wheel, the surface of wheel is provided with increase wheel
The tread contour of attachment coefficient.
Further improvement, described propeller drive shaft is 45 ° with the angle of level ground.
Further improvement, described foldable king bolt oar is identical with the shape of foldable minor spiral oar and construction, but chi
Very little difference.
Further improvement, described left foldable blade is arranged on left rail by latch, and right foldable blade passes through
Latch is arranged on right guide rail.
Advantages of the present invention:
1st, this detection dolly is driven using the custom wheel being relatively large in diameter and supports, and enhances its property passed through.
2nd, equipped with folding flight propeller, enable the low altitude flight of its whole machine, for by short distance trench or
Higher ladder hillside, improves the Local Adaptation of dolly, improves the scope detecting and accuracy.
3rd, the different rotating speeds of remote controlled motor, make left and right two wheels have different power and speed in synchronization
Degree, achievable dolly rotates in place or rotates in walking, reaches the purpose of multi-angle detection, has stronger adaptability and spirit
Activity.
4th, equipped with solar panel charging system, the energy needed for power wheel, photographic head, propeller, mechanical hand
Amount all can be charged by solar panel and obtain, energy-conserving and environment-protective, and energy recharge hardly possible before solving, working time be short etc. to ask
Topic, increase effectively the investigative range of dolly.
Brief description
Fig. 1 detects dolly front general illustration for Multifunction polar region；
Fig. 2 detects general illustration on rear side of dolly for Multifunction polar region；
Fig. 3 detects dolly for Multifunction polar region and folds propeller deployed condition schematic elevation view；
Fig. 4 detects dolly for Multifunction polar region and folds propeller deployed condition schematic top plan view；
Fig. 5 detects dolly for Multifunction polar region and folds propeller folded state schematic diagram；
Fig. 6 detects dolly spherical organism internal structure schematic elevation view for Multifunction polar region；
Fig. 7 detects dolly spherical organism internal structure schematic side view for Multifunction polar region.
Wherein：1st, wheel；2nd, photographic head；3rd, solar panel；4th, the foldable king bolt in top oar；5th, spherical body；
6th, receiver；7th, mechanical hand；8th, rear side foldable minor spiral oar；9th, left rail；10th, left foldable blade；11st, right foldable leaf
Piece；12nd, right guide rail；13rd, propeller drive shaft；14th, retractor device；15th, fixed seat；16th, left wheel motor；17th, right car
Wheel drive motor；18th, rear side propeller motor；19th, remote control module；20th, top propeller motor；21st, charge and control
Molding block；22nd, drive control module；23rd, accumulator；24th, motor about propeller shaft；25th, the upper and lower stepping of propeller shaft
Motor；26th, rotary shaft.
Specific embodiment
A kind of Multifunction polar region as shown in Figures 1 to 7 detects dolly, including spherical body 5, described spherical body
5 both sides are provided with wheel 1, and spherical body 5 front is provided with the mechanical hand 7 for collecting sample, is provided with placement below mechanical hand 7
The receiver 6 of sample；The front upper of spherical body 5 and reverse side top be mounted on rotatable with to detect dolly upper and lower,
Left and right, the photographic head 2 being detected in front and back；Spherical body 5 top is connected with by rotary shaft 26 to drive and detects dolly flight
Foldable king bolt oar 4, the top of spherical body 5 is provided with for accumulator 23 charging being within spherical body 5
Solar panel 3, solar panel 3 is provided with the aperture passing through for rotary shaft 26.
Spherical body 5 rear side afterbody is provided with foldable minor spiral oar 8, and described foldable minor spiral oar 8 includes propeller
Power transmission shaft 13, fixed seat 15, left foldable blade 10 and right foldable blade 11；Foldable minor spiral oar 8 is passed by propeller
Moving axis 13 is connected with spherical body 5；Propeller drive shaft 13 top is provided with fixed seat 15, and fixed seat 15 is provided with left rail 9
With right guide rail 12；Left foldable blade 10 is arranged on left rail 9, and right foldable blade 11 is arranged on right guide rail 12；Fixing
It is provided with, in seat 15, the retractor device 14 that left foldable blade 10 and right foldable blade 11 are shunk and launched.
Described wheel 1 is respectively by being in left wheel motor 16 and the right wheel drive motors within spherical body 5
17 drivings；Foldable king bolt oar 4 is driven by the top propeller motor 20 being within spherical body 5；Spherical machine
Be provided with inside body 5 according to the electric energy service condition of accumulator 23 be turned on or off solar panel 3 charge function in case
Only accumulator 23 overshoot or over-discharge charge control module 21；It is additionally provided with inside spherical body 5 and can receive remotely control letter
Number remote control module 19, remote control module 19 is connected with the control left wheel motor 16 and respective rotating speed of right wheel drive motors 17
Drive control module 22；Foldable minor spiral oar 8 is driven by the rear side propeller motor 18 being within spherical body 5
Dynamic；Rear side propeller motor 18 have can multi-angle regulation output shaft, be provided with spherical body 5 control output shaft adjust
Angle with control foldable minor spiral oar 8 the anglec of rotation propeller shaft about motor 24 and the upper and lower stepping of propeller shaft
Motor 25.The height with diameter greater than spherical body 5 of described wheel 1, the surface of wheel 1 is provided with and increases wheel 1 attachment coefficient
Tread contour.Described propeller drive shaft 13 is 45 ° with the angle of level ground.Described foldable king bolt oar 4 with foldable
The shape of minor spiral oar 8 is identical with construction, but size is different.Described left foldable blade 10 is arranged on left rail 9 by latch
On, right foldable blade 11 is arranged on right guide rail 12 by latch.
The present invention utilizes solar panel and accumulator to provide power for detecting dolly, has met the green of Modern times call
Standard, solves the problems such as conventional type energy recharge is difficult, the working time is short, effectively increases the operational paradigm detecting dolly.
Meanwhile, on dolly equipped with folding propeller so that dolly can make full use of air superiority in exploration, cooperation is comprehensive
Photographic head, expands the scope detected, and is easy to find target.In addition, detection dolly can be made quick, accurate using propeller
Arrival detect scene, reduce with rough ground contact probability, it is to avoid the generation of emergency case.Furthermore, adopt in body both sides
Two-wheel drive, greatly improves the mobile susceptiveness of whole machine and by property it is adaptable to various rough topography is it is ensured that detect
It is smoothed out.
This detection dolly is made up of the part such as the custom wheel being relatively large in diameter, folding propeller and spherical body.Logical
Cross and control at least two motor using remote control technology, so that wheel obtains different rotating speed around, with
When under special circumstances, cooperation propeller enable detection dolly to realize low altitude flight it is ensured that detect dolly pass through various rugged
Rugged uneven complex road surface, completes the unmanned probing under the environment of severe polar region.The structure of innovative design and motion, cooperation
The accessible action that special drive system enables 360 degree of dolly detects.This detection dolly install 2 or more can before and after,
Left and right, the photographic head freely up and down rotating, can more fully detect the complex environment around polar region, by tele-control system
Real-time Transmission live view, the research that controllers can carry out next step the very first time detects.The flight propeller of this dolly can
To fold, pack up, reduce the Outside Dimensions detecting dolly, carry cross-country traveling ability.
The present invention by property strong, can comprehensively, accurately carry out detecting the work such as data collection, solve the conventional energy and mend
The problems such as give difficult, detection range is short, improves its labor aptitude and investigative range.Meanwhile, this detection dolly have custom wheel,
Fold propeller, be applicable to various rough topographys, strengthen dolly travel in way by property and motility, to ensure in polar region
Can smoothly surmount obstacles and enable the purpose that sample collection is detected with multi-angle Deng complex road surface.
As shown in figure 1, the left and right sides of spherical body 5 is provided with special wheel 1, for detecting the driving of dolly, special
The wheel 1 of system has special tire construction and tread contour, so that special wheel 1 attachment coefficient is increased it is ensured that detecting dolly
Road surface by complex environments such as polar regions.Spherical body 5 front is provided with mechanical hand 7, can by remotely control its by collection
Sample is in place in spherical body 5 front, the receiver 6 of mechanical hand 7 bottom, in order to post analysis.Spherical body 5 is just
Face and reverse side top are mounted on photographic head 2, and this photographic head has the work(that omnidirectional detection is realized in top to bottom, left and right, front and rear motion
Can, and the picture that it is detected can be transmitted back to by remote control module, it is easy to user and carry out next step operation.Spherical body 5
Top solar panel 3 is installed, charge for the accumulator 23 to internal body.Top foldable king bolt oar 4 leads to
Cross rotary shaft 26 and pass through solar panel 3 medial small hole, be arranged on the top of spherical body 5, for whole machine low altitude flight.
As shown in Fig. 2 spherical body 5 afterbody decentralization and 45 degree of positions of ground angle are provided with the foldable minor spiral oar of rear side
8, for assisting whole machine flight, and control whole machine heading.The foldable king bolt oar 4 in above-mentioned top, the foldable little spiral shell of rear side
Rotation oar 8 structure is identical, and simply size is different.
As shown in Fig. 3, Fig. 4, Fig. 5, the structure of foldable minor spiral oar is：It is provided with solid at propeller drive shaft 13 top
Reservation 15, has left rail 9, right guide rail 12 in fixed seat, its left foldable blade 10, right foldable blade 11 are by latch respectively
It is arranged on left rail 9, on right guide rail 12, by the retractor device 14 in fixed seat 15, left foldable blade 10, the right side can be able to be rolled over
Folded blade 11 retracted downward realizes the folding of blade, or protrudes upward the expansion realizing blade.
As shown in Figure 6, Figure 7, charge control module 21 is turned on or off too according to the electric energy service condition of accumulator 23
The charge function of sun energy cell panel 3, prevents battery overshoot or over-discharge.Remote control module 19 can receive remote control signal, will
Signal transmission, to drive control module 22, controls left wheel motor 16, right wheel drive motors by drive control module 22
17 this detection moving of car of driving, constant speed drives and can realize dolly straight-line travelling, by adjust different rotating speeds drive a left side,
Right special wheel 1, the multi-angle realizing dolly turns to and moves with rotating in place to wait.When remote control module 19 receives flight directive
When, control signal can be passed to drive control module 22 by it, control retractor device 14, top spiral by drive control module 22
Motor 24, the upper and lower motor of propeller shaft about oar motor 20, rear side propeller motor 18, propeller shaft
25 work.Retractor device 14 protrudes upward the expansion realizing top foldable king bolt oar 4 blade.Top propeller drives electricity
Machine 20 is used for driving top foldable king bolt oar 4, and detection dolly can be made to fly away from ground；And rear side propeller motor 18 is used
To drive the foldable minor spiral oar 8 of rear side, the flight of process auxiliary drive whole machine to rise, rear side propeller motor 18 has simultaneously
Can multi-angle regulation output shaft, this output shaft is by motor about propeller shaft 24, the upper and lower motor of propeller shaft 25
Control, for changing the anglec of rotation of the rear side foldable minor spiral oar 8 that rear side propeller motor 18 drives, to control spy
Survey the heading of dolly, make greatly improving by performance of detection dolly, improve the accuracy and comprehensive of its detection.Store
Battery 23 is used for powering to all controls detecting dolly, driving, motion.
The explanation of above example is only intended to help understand the core concept of the present invention；General simultaneously for this area
Technical staff, according to the thought of the present invention, all will change in specific embodiments and applications, in sum,
This specification content should not be construed as limitation of the present invention.
Claims (5)
1. a kind of Multifunction polar region detects dolly, including spherical body (5) it is characterised in that
The both sides of described spherical body (5) are provided with wheel (1), and spherical body (5) front is provided with the machinery for collecting sample
Handss (7), are provided with the receiver (6) placing sample below mechanical hand (7)；The front upper of spherical body (5) and reverse side top are equal
The rotatable photographic head (2) to be detected to the top to bottom, left and right, front and rear detecting dolly is installed；Spherical body (5) top leads to
Cross rotary shaft (26) and be connected with the foldable king bolt oar (4) driving detection dolly flight, the top of spherical body (5) is provided with
For the solar panel (3) charging to the accumulator (23) being in spherical body (5) inside, on solar panel (3)
It is provided with the aperture passing through for rotary shaft (26)；
On rear side of spherical body (5), afterbody is provided with foldable minor spiral oar (8), and described foldable minor spiral oar (8) includes spiral
Oar power transmission shaft (13), fixed seat (15), left foldable blade (10) and right foldable blade (11)；Foldable minor spiral oar (8)
It is connected with spherical body (5) by propeller drive shaft (13)；Propeller drive shaft (13) top is provided with fixed seat (15), Gu
Reservation (15) is provided with left rail (9) and right guide rail (12)；Left foldable blade (10) is arranged on left rail (9), and the right side can be rolled over
Folded blade (11) is arranged on right guide rail (12)；It is provided with left foldable blade (10) and right foldable blade in fixed seat (15)
(11) shunk and the retractor device (14) that launched；
Described wheel (1) drives electricity by being in the internal left wheel motor (16) of spherical body (5) and right wheel respectively
Machine (17) drives；Foldable king bolt oar (4) is driven by being in internal top propeller motor (20) of spherical body (5)
Dynamic；It is provided with inside spherical body (5) and solar panel (3) is turned on or off according to the electric energy service condition of accumulator (23)
Charge function with prevent accumulator (23) overshoot or over-discharge charge control module (21)；Inside spherical body (5) also
It is provided with the remote control module (19) that can receive remote control signal, remote control module (19) is connected with control left wheel motor (16)
Drive control module (22) with the respective rotating speed of right wheel drive motors (17)；Foldable minor spiral oar (8) is by being in spherical machine
Internal rear side propeller motor (18) of body (5) drives；Rear side propeller motor (18) has can multi-angle regulation
Output shaft, be provided with spherical body (5) control output shaft adjust angle to control the anglec of rotation of foldable minor spiral oar (8)
Propeller shaft about motor (24) and the upper and lower motor of propeller shaft (25).
2. Multifunction polar region as claimed in claim 1 detects dolly it is characterised in that the diameter of described wheel (1) is big
In the height of spherical body (5), the surface of wheel (1) is provided with the tread contour increasing wheel (1) attachment coefficient.
3. Multifunction polar region as claimed in claim 1 detects dolly it is characterised in that described propeller drive shaft (13)
Angle with level ground is 45 °.
4. Multifunction polar region as claimed in claim 1 detects dolly it is characterised in that described foldable king bolt oar
(4) identical with the shape of foldable minor spiral oar (8) and construction, but size is different.
5. Multifunction polar region as claimed in claim 1 detects dolly it is characterised in that described left foldable blade (10)
It is arranged on left rail (9) by latch, right foldable blade (11) is arranged on right guide rail (12) by latch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510298755.9A CN104890460B (en) | 2015-06-03 | 2015-06-03 | A kind of Multifunction polar region detects dolly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510298755.9A CN104890460B (en) | 2015-06-03 | 2015-06-03 | A kind of Multifunction polar region detects dolly |
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| CN104890460A CN104890460A (en) | 2015-09-09 |
| CN104890460B true CN104890460B (en) | 2017-03-01 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106004286B (en) * | 2016-06-23 | 2018-02-06 | 福建工程学院 | A kind of electronic detection dolly in solar energy polar region |
| CN106476954B (en) * | 2016-12-08 | 2022-05-13 | 福建工程学院 | Novel intelligent portable electric trolley |
| CN107234385B (en) * | 2017-07-27 | 2019-01-11 | 安徽名筑钢塔工程有限公司 | A kind of signal tower tower body maintenance of equipment |
| CN108189633A (en) * | 2017-12-20 | 2018-06-22 | 深圳先进技术研究院 | A kind of land and air double-used machine people Reconnaissance system |
| CN111998879B (en) * | 2020-08-17 | 2022-08-02 | 安徽中池新材料有限公司 | Polar region monitoring facilities protection device |
| CN112706722A (en) * | 2020-12-31 | 2021-04-27 | 宋燕燕 | External stable form polar region detection equipment that marchs of keeping away barrier structure |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US20150001334A1 (en) * | 2011-05-02 | 2015-01-01 | Wendell Olson | Discoidal Seaplane |
| CN203046783U (en) * | 2013-02-27 | 2013-07-10 | 广东工业大学 | Rescue robot for polymorphic real-time information transmission |
| WO2015064767A1 (en) * | 2013-10-30 | 2015-05-07 | 優章 荒井 | Vertical take-off and landing flight vehicle |
| CN104401487B (en) * | 2014-11-19 | 2016-06-01 | 中国航空工业经济技术研究院 | A kind of can the logistics unmanned gyroplane of ground running |
| CN104494818B (en) * | 2014-11-28 | 2016-12-07 | 吉林大学 | Four rotor amphibious robots |
| CN204726171U (en) * | 2015-06-03 | 2015-10-28 | 福建工程学院 | A kind of Multifunction polar region detection dolly |
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