CN105523101A - Vehicle frame chassis for radiation source detecting and processing robot, robot and application - Google Patents
Vehicle frame chassis for radiation source detecting and processing robot, robot and application Download PDFInfo
- Publication number
- CN105523101A CN105523101A CN201610005005.2A CN201610005005A CN105523101A CN 105523101 A CN105523101 A CN 105523101A CN 201610005005 A CN201610005005 A CN 201610005005A CN 105523101 A CN105523101 A CN 105523101A
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- Prior art keywords
- vehicle frame
- robot
- frame chassis
- wheel
- rotating shaft
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- 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
Abstract
The invention relates to a vehicle frame chassis a radiation source detecting and processing robot, the robot and application. The vehicle frame chassis part mainly comprises a vehicle frame, wherein the front end of the vehicle frame is connected with a front rotating arm in a rotating manner through a front rotating shaft; front wheels and an advancing power source for driving the front wheels are respectively mounted at the left end and the right end of the front rotating arm; the left side and the right side of the rear part of the vehicle frame are a left side rotating arm and a right side rotating arm in a rotating manner through side part rotating shafts; middle wheels, rear wheels and an advancing power source for driving the corresponding wheels are respectively mounted at the left ends and the right ends of the left side rotating arm and the right side rotating arm; the ground clearance of the vehicle frame is changed through self rotation of the front rotating arm and/or the side rotating arms, so that the robot can span a barrier. According to the vehicle frame chassis disclosed by the invention, a bran-new structure is designed, so that the barrier spanning capacity is high, and requirements in an adverse road condition are met.
Description
Technical field
The present invention relates to power automation technical equipment field, specifically, relate to the detection of a kind of active source and dispose robot frame chassis, robot and application.
Background technology
Active source is the appellation in a class source in radiant.Active source is processed encapsulation by radioistotope and is formed.Radioistotope is strictly sealed to avoid it and is contacted with the direct of environment, and what utilize is be sealed in the particle or photon that isotope in source launches.
Active source is generally all contained in the special container of particular design, to prevent from damaging human body.Active source packing container kind is a lot, and be mostly spherical and cylindrical, the materials such as general lead, cast iron, steel, plastics, paraffin are made.
The active source volume of general sealing is not very large, under normal conditions, it seems to be exactly a metal object or pig, some active sources may seem sparkling, the spitting image of key chain or falling decoration, some people unavoidable can sell as noble metal or scrap iron, and comprise some children and can get house back and play, a lot of accident occurs like this.
High dangerous matter sources, high-risk source, middle dangerous matter sources, low dangerous matter sources, extremely low dangerous matter sources five class is divided into by nucleic kind, energy size and activity.
(1) I class active source is high dangerous matter sources.In not protection situation, contacting this kind of source a few minutes just can causing death by 1 hour.
(2) II class active sources are high-risk source.In not protection situation, contact this kind of source several little can causing death up to several days.
(3) III class active sources are middle dangerous matter sources.In not protection situation, contact this kind of source and just can cause permanent damage to people in several hours, contacting several days also can causing death to a few week.
(4) IV class active sources are low dangerous matter sources.Substantially can not cause permanent damage to people, but recoverable provisional damage may be caused to people that is long-time, these active sources of close contact.
(5) V class active sources are extremely low dangerous matter sources.Permanent damage can not be caused to people.
Because of the harmfulness that active source is potential, so active source is once after accidentally losing, should as early as possible by robot seeks, with the danger avoiding human contact's active source to occur.And the loss place of active source has larger randomness, when active source is lost in poor regional of road conditions, existing robot majority does not have obstacle climbing ability, causes very large inconvenience to the searching of active source.
Meanwhile, the robot used in existing electric system, its obstacle climbing ability also cannot practical requirement.
Therefore, be necessary to improve existing robot chassis, make it have higher obstacle climbing ability.
Summary of the invention
The object of the invention is for overcoming above-mentioned the deficiencies in the prior art, providing a kind of active source to detect and disposing robot frame chassis.The present invention, by designing brand-new structure, makes it have higher obstacle climbing ability, meets the demand under severe road conditions.
In order to reach above-mentioned purpose, the present invention adopts following technical scheme:
A kind of active source detection and disposal robot frame chassis, comprising:
Vehicle frame, the front end of vehicle frame is rotationally connected by anterior rotating shaft and front pivoted arm, and the two ends of front pivoted arm are separately installed with front vehicle wheel and drive the driving power source of front vehicle wheel;
The both sides at described vehicle frame rear portion are rotationally connected respectively by sidepiece rotating shaft and left and right side pivoted arm, and the two ends of left and right side pivoted arm are separately installed with middle wheel, rear wheel and drive the driving power source of corresponding wheel;
Front pivoted arm and/or swivel arm realize the change of vehicle frame ground Clearance by the rotation of self, break the barriers.
Preferably, described driving power source is motor or HM Hydraulic Motor.
Preferably, described front vehicle wheel protrudes from described front pivoted arm.
Preferably, described middle wheel or rear wheel protrude from described vehicle frame.
Preferably, the portion of the connection of described anterior rotating shaft and front pivoted arm is covered by watertight cover.
Preferably, the connecting portion of described sidepiece rotating shaft and swivel arm is covered by watertight cover.
While providing active source detection and disposal robot frame chassis, present invention also offers a kind of robot, the chassis of this robot is above-mentioned robot frame chassis.
Above-mentioned active source detection and disposal robot frame chassis, the application in manufacturing machine people.
The invention has the beneficial effects as follows:
(1) be provided with six wheels and six driving power sources, make this device be provided with high crossing ability.
(2) the independence rotation of front pivoted arm and swivel arm can be realized by three rotating shafts, under other reverse the driving of propulsion source, robot frame chassis can be out of shape, and present different from state that is earth surface, the robot frame chassis after distortion is just provided with obstacle climbing ability.
Accompanying drawing explanation
Fig. 1 is integral structure schematic diagram of the present invention;
Fig. 2 is the fit structure schematic diagram of front pivoted arm and wheel in the present invention,
Fig. 3 is the section-drawing at A-A place in Fig. 2,
Fig. 4 is the fit structure schematic diagram of swivel arm and wheel,
Fig. 5 is the full sectional view of swivel arm;
In figure:
1, vehicle frame, 2, front tumbler assembly, 3, swivel arm assembly;
201, front pivoted arm, 202, anterior rotating shaft, 203, wheel, 204, motor shaft clamp, 205, motor shaft, 206, saddle card, 207, watertight cover, 208, deep groove ball bearing, 209, axle sleeve, 210, rubber block, 211, back-up ring, 212, rubber block mount pad, 213, thrust ball bearing, 214, little circular nut;
301, swivel arm, 302, sidepiece rotating shaft, 303, wheel, 304, motor shaft clamp, 305, motor shaft, 306, saddle card, 307, watertight cover, 308, deep groove ball bearing, 309, axle sleeve, 310, rubber block, 311, back-up ring, 312, rubber block mount pad, 313, thrust ball bearing, 314, little circular nut.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in detail.
Embodiment: a kind of active source detection and disposal robot frame chassis, its structure as Figure 1-5, comprise: vehicle frame 1, the front end of vehicle frame 1 is rotatably connected with front tumbler assembly 2 by anterior rotating shaft 202, and the both sides of vehicle frame 1 are connected with swivel arm assembly 3 respectively by a sidepiece rotating shaft 302.
Wherein, front tumbler assembly 2 comprises front pivoted arm 201, and anterior rotating shaft 202 is arranged on the middle of front pivoted arm 201, and watertight cover 207 outer end being fitted in anterior rotating shaft 202 tightly, axle sleeve 209 is arranged in anterior rotating shaft 202.Deep groove ball bearing 208 has 2, 2 deep groove ball bearings 208 are installed in anterior rotating shaft 202, and be distributed in the both sides of axle sleeve 209, rubber block 210 is distributed in anterior rotating shaft 202 around, back-up ring 211 is arranged in anterior rotating shaft 202, rubber block mount pad 212 is enclosed within anterior rotating shaft 202 around, tightly fit back-up ring 211 in one end of rubber block mount pad 212, thrust ball bearing 213 is arranged in anterior rotating shaft 202, thrust ball bearing 213 is tightly fitted back-up ring 211, little circular nut 214 amounts to 2, 2 little circular nuts 214 are arranged on anterior rotating shaft 202 around side by side, saddle card 206 is arranged on front pivoted arm 201.
Meanwhile, front tumbler assembly 2 also comprises motor shaft clamp 204, and motor shaft clamp 204 is arranged on the both sides of front pivoted arm 201, and one end of motor shaft 205 is arranged on wheel 203, and the other end of motor shaft 205 is arranged on motor shaft clamp 204.
Described swivel arm assembly 3 comprises swivel arm 301, motor shaft clamp 304 is arranged on the both sides of swivel arm 301, one end of motor shaft 305 is arranged on wheel 303, the other end of motor 305 is arranged on motor shaft clamp 304, rotating shaft 302 is arranged on the middle of side rocking arm 301, watertight cover 307 one end being fitted in sidepiece rotating shaft 302 tightly, axle sleeve 309 is arranged in sidepiece rotating shaft 302, deep groove ball bearing 308 has 2, 2 deep groove ball bearings 308 are arranged in sidepiece rotating shaft 302, and be distributed in the both sides of axle sleeve 309, rubber block 310 is distributed in sidepiece rotating shaft 302 around, back-up ring 311 is arranged in sidepiece rotating shaft 302, rubber block mount pad 312 is enclosed within sidepiece rotating shaft 302 around, tightly fit back-up ring 311 in one end of rubber block mount pad 312, thrust ball bearing 313 is arranged in sidepiece rotating shaft 302, thrust ball bearing 313 is tightly fitted back-up ring 311, little circular nut 314 amounts to 2, 2 little circular nuts 314 are arranged on sidepiece rotating shaft 302 around side by side, saddle card 306 is arranged on side rocking arm 301.
During use, the manipulation part of robot is arranged on this device, then three rotating shafts are connected with motor, HM Hydraulic Motor or reducing motor respectively by coupler.
Principle of the present invention is:
Under normal walking states, six wheels, by six propulsion source individual drive, therefore have higher power and crossing ability, even if in muddy section, as long as there is a wheel to have adhesive ability, this device still can normally be advanced.Because front and back wheel protrudes from front pivoted arm 201 and vehicle frame 1 respectively, before vehicle frame 1 and the bar contact of therefore vehicle, wheel 203 will elder generation and bar contact, then crosses, and then make robot when crossing over the obstacle of such as stone class, have very large angle of attach and departure angle.So when obstacle is not higher than the maximum ground Clearance, machine can pass through per capita smoothly.
As stronger obstacle climbing ability, robot chassis of the present invention, also can realize climbing effect.That is: time by highly higher obstacle, under the driving of six propulsions source, wheel 203 can rise along the sidewall of obstacle, and now, power mainly carrys out comfortable two rear wheels 303.Clear the jumps after 303, can be stuck on obstacle bottom vehicle frame 1, wheel 203 is just for vacant state.Now, two swivel arms 301 are driven to rotate clockwise by sidepiece rotating shaft 302, make to be positioned at middle wheel 303 to land, the wheel 303 at rear portion tilts, and namely achieves the elevated height at vehicle frame 1 rear portion, accordingly, will obstacle be left bottom vehicle frame 1, now readvance, until middle part wheel 303 and rear wheel 303 are fitted in the surface of obstacle completely, under the driving of front wheel 203, robot should cross this obstacle.If still not by, then under the rotation of sidepiece rotating shaft 302, centered by sidepiece rotating shaft 302, swivel arm 301 rotates, make rear wheel 303 and bar contact, lifted by vehicle frame 1 by force, middle part wheel 303 just becomes rear wheel, rear wheel 303 just becomes middle part wheel, completes climb type obstacle detouring.
When running into ground, left side and having hollow place, anterior rotating shaft 202 can be made to rotate clockwise, rotate counterclockwise with two sidepiece rotating shafts 302 in season, this device entirety is presented, and three-wheel drive structure that forward right side wheel 203 and two rear wheels 303 land simultaneously is advanced.After the front left wheel 203 of vehicle frame 1 crosses hollow place, anterior rotating shaft 202 rotates counterclockwise, make two front vehicle wheels 203 land simultaneously, and the sidepiece rotating shaft 302 in left side rotates clockwise, the middle part wheel 303 in another left side is highly identical with rear wheel 303, keeps right side rotating shaft 302 motionless, just present the three-wheel drive structure that two front vehicle wheels 203 and right rear wheel 303 land simultaneously to advance, the entirety that can realize vehicle frame 1 crosses hollow place, subsequently, again presents six and takes turns the state landed.Right side has obstacle detouring reason during hollow place identical with left side hollow place.
Because this device be adopt six take turns six and drive structure, during synchronized rotations of therefore all propulsions source, this device can advance or retreat, and when differential rotates, about can realizing, turning, when the vehicle wheel rotation direction of both sides is inconsistent, realizes pivot stud.
After have employed said structure, robot frame chassis provided by the present invention, having while higher row enters speed, also having high obstacle climbing ability, by normal pass under the severe road conditions of major part, can provide sound assurance for finding active source.
Vehicle frame 1 is installed which kind of robot architecture, become the robot with different object, can selecting according to different demands, having repeated with regard to not carrying out at this.
To the above-mentioned explanation of the disclosed embodiments, professional and technical personnel in the field are realized or uses the present invention.To be apparent for those skilled in the art to the multiple amendment of embodiment, General Principle as defined herein can be without departing from the spirit or scope of the present invention, realize in other embodiments, be not described in detail the part presented with partial enlargement, for prior art, do not repeat at this.Therefore, the present invention can not be restricted to these embodiments shown in this article, but will meet the widest scope consistent with principle disclosed herein and feature.
Claims (8)
1. active source detection and a disposal robot frame chassis, is characterized in that, comprising:
Vehicle frame, the front end of vehicle frame is rotationally connected by anterior rotating shaft and front pivoted arm, and the two ends of front pivoted arm are separately installed with front vehicle wheel and drive the driving power source of front vehicle wheel;
The both sides at described vehicle frame rear portion are rotationally connected respectively by sidepiece rotating shaft and left and right side pivoted arm, and the two ends of left and right side pivoted arm are separately installed with middle wheel, rear wheel and drive the driving power source of corresponding wheel;
Front pivoted arm and/or swivel arm realize the change of vehicle frame ground Clearance by the rotation of self.
2. active source detection according to claim 1 and disposal robot frame chassis, it is characterized in that, described driving power source is motor or HM Hydraulic Motor.
3. active source detection according to claim 1 and disposal robot frame chassis, it is characterized in that, described front vehicle wheel protrudes from described front pivoted arm.
4. active source detection according to claim 1 and disposal robot frame chassis, it is characterized in that, described middle wheel or rear wheel protrude from described vehicle frame.
5. active source detection according to claim 1 and disposal robot frame chassis, it is characterized in that, the portion of the connection of described anterior rotating shaft and front pivoted arm is covered by watertight cover.
6. active source detection according to claim 1 and disposal robot frame chassis, it is characterized in that, the connecting portion of described sidepiece rotating shaft and swivel arm is covered by watertight cover.
7. a robot, this robot has frame chassis, it is characterized in that, described frame chassis is for the active source detection described in any one of claim 1-6 and dispose robot frame chassis.
8. the active source detection described in any one of claim 1-6 and disposal robot frame chassis, the application in manufacturing machine people.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610005005.2A CN105523101B (en) | 2016-01-05 | 2016-01-05 | A kind of radiation source detection and disposal robot frame chassis, robot and application |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610005005.2A CN105523101B (en) | 2016-01-05 | 2016-01-05 | A kind of radiation source detection and disposal robot frame chassis, robot and application |
Publications (2)
| Publication Number | Publication Date |
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| CN105523101A true CN105523101A (en) | 2016-04-27 |
| CN105523101B CN105523101B (en) | 2018-05-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610005005.2A Active CN105523101B (en) | 2016-01-05 | 2016-01-05 | A kind of radiation source detection and disposal robot frame chassis, robot and application |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109050712A (en) * | 2018-07-13 | 2018-12-21 | 华南理工大学广州学院 | A kind of wheel type barrier-crossing deformation chassis and its working method |
| CN109254309A (en) * | 2018-09-13 | 2019-01-22 | 山东省科学院自动化研究所 | A kind of radiation source detection and disposition intelligent robot and its control method |
| CN114568244A (en) * | 2022-03-10 | 2022-06-03 | 武夷学院 | Tree planting vehicle suitable for multiple terrains and use method |
| CN114889722A (en) * | 2022-06-10 | 2022-08-12 | 中国科学院国家天文台 | Mobile system device running on spliced curved surface |
| EP4067214A4 (en) * | 2020-02-06 | 2024-01-03 | Dmg Mori Co Ltd | Running device |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109050712A (en) * | 2018-07-13 | 2018-12-21 | 华南理工大学广州学院 | A kind of wheel type barrier-crossing deformation chassis and its working method |
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| EP4067214A4 (en) * | 2020-02-06 | 2024-01-03 | Dmg Mori Co Ltd | Running device |
| CN114568244A (en) * | 2022-03-10 | 2022-06-03 | 武夷学院 | Tree planting vehicle suitable for multiple terrains and use method |
| CN114889722A (en) * | 2022-06-10 | 2022-08-12 | 中国科学院国家天文台 | Mobile system device running on spliced curved surface |
Also Published As
| Publication number | Publication date |
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| CN105523101B (en) | 2018-05-25 |
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