CN107932474A - A kind of autonomous platform - Google Patents

Abstract

This application discloses a kind of autonomous platform, including the chassis being arranged on platform body, chassis is equipped with the first installation region successively along the direction of front end to rear end, second installation region and the 3rd installation region, first installation region is equipped with elevating mechanism and the grabbing device above elevating mechanism, second installation region is equipped with first control device, the router being arranged on above first control device, multiple motor drivers and multiple analog line drivers, 3rd installation region is equipped with second control device and the PC ends being arranged on the downside of second control device, radiator is additionally provided with chassis.The structure of the application it is compact, response is timely.

Description

A kind of autonomous platform

Technical field

This application involves robotic technology field, more particularly to a kind of autonomous platform.

Background technology

With the fast development of China's field of industrial production, it is more and more to manufacture involved field, wherein being no lack of There is the industry spot of some bad environments, in order to keep the safety in production, the exploration of industry spot is particularly important, in actual industry Under scene and rugged environment, testing staff can not be directly entered scene and complete measurement task.And into in-site measurement When can cause jitter because of advance relatively remote of scene and can not effectively complete autonomous operation, city at present Also without the intelligent carriage for entirely autonomous movement occur on field, and structure is more complicated mostly.

Apply for content

The application technical problems to be solved are to provide a kind of autonomous platform, by setting three installation regions, first Control device, second control device, are realized integrally-built compact.

In order to solve the above-mentioned technical problem, this application provides a kind of autonomous platform, including platform body and it is arranged on Chassis on the platform body, the platform body have a front and rear end, the chassis along front end to rear end direction according to It is secondary to be equipped with the first installation region, the second installation region and the 3rd installation region, first installation region be equipped with elevating mechanism and Grabbing device above the elevating mechanism, second installation region are equipped with first control device, are arranged on described the Router, multiple motor drivers and multiple analog line drivers above one control device, the 3rd installation region is equipped with Second control device and the PC ends being arranged on the downside of the second control device, are additionally provided with radiator on the chassis.

Further, the radiator includes being arranged between second installation region and the 3rd installation region Fan and the ice chest arranged on the second control device both sides.

Further, the elevating mechanism include one can relatively described chassis upper surface relative motion pressing plate, the pressure The upside of plate, which is equipped with one, has the installing plate of lug, stretches into the second installing zone from the first installation region at the lug of the installing plate Domain, is also equipped with more sunpenders on the pressing plate, and the upper end of the sunpender is held in the upper surface of the pressing plate by a stage, The lower end of the sunpender is connected with the detection device of the lift side arranged on the elevating mechanism, and the sunpender is filled positioned at the detection Put and compression spring is arranged with the bar segment between the pressing plate, the upper end of the compression spring supports the lower surface of the pressing plate, the pressure The lower end of spring supports the upper surface of the detection device.

Further, the installing plate in the second installation region is equipped with the 5th driving device, the 5th driving dress The output terminal put is connected with one end of a transmission device, and the input terminal of the other end of the transmission device and a screw pair connects Connect, the pressing plate is connected with the output terminal of the screw pair, and drives opposite institute by the output terminal of the screw pair The upper surface for stating chassis pumps.

Further, the detection device includes surface contamination detector and arranged on the surface contamination detector side First gamma detector, the lower end of the compression spring support the upper surface of the surface contamination detector.

Further, the grabbing device includes the manipulator being arranged on the installing plate and by a handgrip installing plate The handgrip of the manipulator actuating station is arranged on, is additionally provided with the first installation position and the second installation position on the installing plate, described One installation position is provided with multiple vision inspection apparatus, and second installation position is provided with the second gamma detector.

Further, the anticollision mechanism for being respectively arranged on the platform body front and rear end, the anticollision mechanism are further included Including an anticollision portion and two connecting portions being parallel to each other, one end of two connecting portions is removable by a connection piece and the chassis The formula of unloading is fixedly connected, and the other end of the both ends in the anticollision portion respectively with two connecting portions is connected.

Further, the housing that a bottom is adapted with the shape on the chassis is further included, the housing is equipped with relaying Device Storage Box, the repeater Storage Box is interior to be equipped with multiple repeaters, and the lateral surface positioned at the housing of platform body front end is equipped with One netted installing plate, the lateral surface positioned at the housing of platform body rear end are equipped with the first control panel, the second control panel and day Line, the netted installing plate are equipped with multiple vision collecting device, lighting device and obstacle detectors, the platform body Rear end be equipped with the first control panel that the first control device is electrically connected and be electrically connected with the second control device the Two control panels, the first control device respectively with the repeater, the manipulator, the motor driver, the work( Rate driver be electrically connected, the second control device respectively with the router, the vision collecting device, the obstacle quality testing Device, antenna electrical connection are surveyed, the first control device is electrically connected with the second control device.

Further, the thickness on the chassis is 4mm-10mm, and it is 1mm-3mm's that the upper surface on the chassis, which is equipped with thickness, Stereotype, the downside on the chassis are equipped with battery case, multiple installing zones for being used to install battery are equipped with the battery case.

Further, a upper cover is further included, the upper cover is connected with the housing by multiple tower buttons

The beneficial effect of the application is：

1) the application realizes that overall structure is more compact by setting three installation regions；

2) the application realizes that the control system division of labor is clear and definite, effectively by setting first control device and second control device The time of control feedback is saved, accomplishes summary responses；

3) for the application by setting grabbing device and repeater, realizing can be by dispensing in traveling larger distance Long haul communication is achieved after device；

4) the application by setting the first gamma detector and the 2nd γ spies positioned at elevating mechanism lift side on a robotic arm Device is surveyed, realizes comprehensive detection；

5) the application can be with the detachable fixation of platform body by being set respectively in the front and rear end of platform body The anticollision mechanism of connection, and on anticollision mechanism set with cambered surface tray so that the anticollision portion of the application realize anticollision, Artificial lift to move, machinery lift by crane integrated design, and integral structure layout is reasonable；

6) the application realizes safety by being arranged on vision collecting device, the obstacle detector of platform body front end Avoidance.

Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention, And can be practiced according to the content of specification, below with presently preferred embodiments of the present invention and coordinate attached drawing describe in detail as after.

Brief description of the drawings

Fig. 1 is the application general structure schematic diagram；

Fig. 2 is the application interior details schematic diagram；

Fig. 3 is the application left view；

Fig. 4 is the application right view；

Fig. 5 is the application grabbing device schematic diagram.

Wherein：

1 it is platform body, 2 be chassis, 4 be battery case, 6 be the first installation region, 8 be the second installation region, 10 is Three installation regions, 12 be elevating mechanism, 1201 be pressing plate, 1202 be installing plate, 1203 be sunpender, 1204 be compression spring, 1205 be Surface contamination detector, 1206 be the first gamma detector, 1207 be the first synchronous pulley, 1208 be the second synchronous pulley, 1209 Be the 3rd synchronous pulley, 1210 be the 4th synchronous pulley, 1211 be leading screw, 1212 be sliding block, 1213 be guide post, 14 be crawl dress Put, 1401 be first driving means mounting base, 1402 be the second driving device mounting base, 1403 be the first mounting base, 1404 be First connecting rod, 1405 be the second mounting base, 1406 be second connecting rod, 1407 be handgrip installing plate, 1408 be lifting cylinder, 1409 It is handgrip, 1410 be the first installation position, 1411 be the second installation position, 1412 be the 3rd mounting base, 16 is first control device, 17 It is second control device, 18 be router, 19 be PC ends, 20 be motor driver, 22 be analog line driver, 24 is fan, 26 It is ice chest, 28 be repeater Storage Box, 30 be connecting portion, 32 be anticollision portion, 34 be netted installing plate, 36 is the first chain of command Plate, 38 be the second control panel, 40 be antenna, 42 be depth camera, 44 be infrared camera, 46 be supporting rack, 48 be tower buckle, 50 It is housing.

Embodiment

The application is described further with specific embodiment below in conjunction with the accompanying drawings, so that those skilled in the art can be with More fully understand the application and can be practiced, but illustrated embodiment is not as the restriction to the application.

Referring to attached drawing 1 to 5, a kind of autonomous platform described in one preferred embodiment of this explanation, including platform body 1 and set The chassis 2 on the platform body 1 is put, the downside on chassis 2 is equipped with battery case 4,16 are equipped with the battery case 4 and is used to pacify The installing zone of packed battery.Facilitate the front end of platform body as defined in the application to describe as normal driving headstock portion, platform sheet The rear end of body is the tailstock portion normally to drive a vehicle, in order to make design structure more compact, integrally seems simple and beautiful, preferably bottom Disk 2 is equipped with the first installation region 6, the second installation region 8 and the 3rd installation region 10 successively along the direction of front end to rear end, Elevating mechanism 12 and the grabbing device 14 above the elevating mechanism 12, the second installation region are equipped with one installation region 6 Equipped with first control device 16, the router 18 for being arranged on the top of the first control device 16, multiple motor drivers 20 with And multiple analog line drivers 22, second control device 17 is equipped with the 3rd installation region and is arranged on the second control device 17 The PC ends 19 of downside, are additionally provided with radiator on the chassis 2, preferably radiator include being arranged on second installation region with Fan 24 between 3rd installation region and the ice chest 26 arranged on the second control device both sides.

Wherein, in order to allow to be contacted the detection device of carrying with the ground of required detection zone, preferably will Detection device is arranged on the lift side of elevating mechanism, elevating mechanism include one can relatively described chassis upper surface relative motion pressure Plate 1201, the upside of the pressing plate 1201, which is equipped with one, has an installing plate 1202 of lug, at the lug of the installing plate 1202 from The second installation region 8 is stretched into first installation region 6, and a gear is equipped between installation region and the second installation region the one the first Plate, baffle are equipped with the opening passed through for installing plate, more sunpenders 1203 are also equipped with the pressing plate, the sunpender 1203 Upper end is held in the upper surface of the pressing plate 1201 by a stage, and the lower end of the sunpender 1203 is with being arranged on the elevating mechanism The detection device connection of 12 lift side, bar segment of the sunpender 1203 between the detection device and the pressing plate 1201 On be arranged with compression spring 1204, the upper end of the compression spring 1204 supports the lower surface of the pressing plate 1201, under the compression spring 1204 End supports the upper surface of the detection device, and preferred detecting unit includes surface contamination detector 1205 and arranged on surface dirt The first gamma detector 1206 of 1205 side of detector is contaminated, the lower end of the compression spring 1204 supports the surface contamination detector 1205 upper surface.Installing plate in the second installation region 8 is equipped with the 5th driving device, and preferably the 5th driving device is Brushless electric machine, the output terminal of the 5th driving device are connected with one end of a transmission device, the other end of the transmission device It is connected with the input terminal of a screw pair, the pressing plate is connected with the output terminal of the screw pair, and by the leading screw The output terminal of pair of nut drives the upper surface on relatively described chassis to pump.

Specifically, the transmission device includes the first synchronous pulley being connected with the output terminal of the 5th driving device 1207 and be arranged on the installing plate 1202 the second synchronous pulley 1208, the 3rd synchronous pulley 1209 (not shown in figure, the Three synchronous pulleys 1209 are oppositely arranged with the second synchronous pulley 1208) and be arranged on second synchronous pulley 1208 with it is described The 4th synchronous pulley 1210 between 3rd synchronous pulley 1209, it is same that the conveyer belt of the transmission device sequentially passes through described first Walk belt wheel 1207, the second synchronous pulley 1208, the 4th synchronous pulley 1210 and the 3rd synchronous pulley 1209, preferably the 4th synchronous belt Wheel 1210 is pre- bearing up pulley.

Wherein, the screw pair includes two, respectively the first screw pair and the second screw pair, each The screw pair includes leading screw 1211 and the sliding block 1212 on the leading screw 1211, first screw pair The upper end of leading screw is rotatablely connected with second synchronous pulley, and the lower end of the leading screw of first screw pair passes through a bearing It is connected with the chassis, the sliding block of first screw pair is connected with the pressing plate, the silk of second screw pair The upper end of thick stick and the 3rd synchronous pulley are rotatablely connected, the lower end of the leading screw of second screw pair by a bearing with The chassis connection, the sliding block of second screw pair are connected with the pressing plate.

It is be respectively placed in installing plate corner location four to be preferably directed mechanism, and each guiding mechanism includes connection and installs Plate and the guide post on chassis 1213 and the linear bearing being slidably connected on the guide post, the pressing plate connect with the linear bearing Connect, and moved back and forth up and down with the moving up and down for linear bearing along the guide post.

Wherein, grabbing device 14 includes the manipulator being arranged on platform body and is arranged on the manipulator actuating station Handgrip, wherein, manipulator includes rotating with the platform body first driving means being connected, accommodating first driving means First driving means mounting base 1401, rotate the second driving device installation being connected with the output terminal of the first driving means It is seat 1402, the second driving device for being placed in the second driving device mounting base 1402, defeated with second driving device Outlet rotates the first connecting rod that the first mounting base 1403 of connection, one end are arranged on the side wall of first mounting base 1403 1404th, the second mounting base 1405 arranged on 1404 other end of first connecting rod, be placed in second mounting base 1405 Three driving devices, one end are rotated the second connecting rod being connected by a transfer block with the output shaft of the 3rd driving device 1406th, the 3rd mounting base 1412 that is fixedly connected with the other end of the second connecting rod 1406, in the 3rd mounting base Four-drive device, rotate with the output shaft of the four-drive device be connected handgrip installing plate 1407, arranged on described Lifting cylinder 1408 on handgrip installing plate, the handgrip 1409 is arranged on the actuating station of the lifting cylinder, on the installing plate It is installation position to be additionally provided with multiple, in order to realize that handgrip can realize comprehensive scanning surrounding, preferably described first driving means Rotation axis it is vertically arranged, the rotation axis of second driving device mutually hangs down with the rotation axis of the first driving means It is straight to set, the rotation axis laying parallel with the rotation axis of second driving device of the 3rd driving device, wherein, Installation position has two, and two installation positions are respectively the first installation position 1410 and the second installation position 1411, and first installation position is pacified Equipped with multiple vision inspection apparatus, second installation position is provided with the second gamma detector.

In order to realize the communication of long range, repeater Storage Box 28, the repeater storage are additionally provided with platform body Multiple repeaters are equipped with box, the repeater is connected with the first control device signal, and handgrip is used to launch repeater In traveling way.

Specifically, being equipped with integrated elastic beam in repeater Storage Box, the integrated elastic beam includes more A cut section, each cut section place a repeater, and the bore of the cut section is slightly less than the repeater appearance and size.

In order to enable the mobile station of the application freely to advance under rugged environment, preferably in platform body front end with after End sets anticollision mechanism respectively, and in order to realize anticollision, artificial lift to move, machinery lifting integration, it is anti-to include one for preferably anticollision mechanism The connecting portion 30 that portion 32 and two is parallel to each other is hit, one end of two connecting portions 30 is detachable by a connection piece and the chassis Formula is fixedly connected, and the other end of the both ends in the anticollision portion respectively with two connecting portions is connected, and the lateral wall of anticollision mechanism is equipped with slow Layer is rushed, multiple trays with cambered surface are equipped with positioned at the downside of the cushion in anticollision portion.

Specifically, the autonomous platform of the application further includes the housing that a bottom is adapted with the shape on the chassis, position A netted installing plate 34 is equipped with the lateral surface of the housing of platform body front end, positioned at the lateral surface of the housing of platform body rear end Equipped with the first control panel 36, the second control panel 38 and antenna 40 for receiving signal, set on the netted installing plate 34 There are multiple vision collecting device, lighting device and obstacle detectors, preferably vision inspection apparatus is respectively red including two Outer camera 44 and depth camera 42, preferably obstacle detector are the laser being arranged on by mounting base on the netted installing plate Radar, it is equipped with the first control panel being electrically connected with first control device and electric with second control device in the rear end of platform body Second control panel of connection, includes multiple USB interfaces, emergency stop switch and mesh, the second control panel on the first control panel The upper general aviation socket for including multiple USB interfaces and detector.First control device respectively with the repeater, the machinery Hand, the motor driver, the analog line driver are electrically connected, the second control device respectively with the router, described Vision collecting device, the obstacle detector, the antenna are electrically connected, the first control device and the described second control Device is electrically connected, and first control device is also electrically connected with PC ends.

Specifically, since the first connecting rod and second connecting rod of manipulator have certain length, preferably also set up on housing One is used to support the supporting rack 46 of manipulator.

Specifically, the autonomous platform of the application further includes upper cover, the upper cover passes through multiple tower buttons with the housing 50 48 connections.

In order to make structure more compact, preferably the material on chassis is stainless steel, and the thickness on chassis is 6mm, on chassis Upper surface is additionally provided with the stereotype that thickness is 2mm, and chassis is equipped with the opening passed through for surface contamination detector.

To make handgrip realize crawl repeater and launching repeater, preferably vision inspection apparatus is two cameras, camera Communication connection.

Operation principle：

The autonomous platform of the application is placed in region to be maked an inspection tour, mobile station starts autonomous operation, first control device Control mobile station to advance, while be arranged on the vision collecting device of mobile station front end and obstacle detector starts to mobile station Travel zone be scanned, the path data collected then is sent to second control device is then stored in PC ends, Two control devices are sent to first control device according to the path data of collection, and first control device is according to second control device Signal controls the traveling of mobile station, and the manipulator on the upside of elevating mechanism starts to move around on the top, makes to be installed on the second peace The second gamma detector on dress position starts to detect, when running to a position to be detected, first control device control the 5th Driving device driving screw pair rotates drives the pressing plate downlink being installed on screw pair to drive surface contamination to visit at the same time Survey device and the second gamma detector downlink installed in surface contamination detector side contacts ground, pressed under the action of compression spring Ground to be detected proceeds by detection, and the result of detection then is sent to second control device is stored in PC ends, works as operation When stroke farther out, signal can be more and more weaker, and after signal weaker is detected, first control device control machinery is on hand Handgrip starts to extend into crawl repeater at repeater Storage Box under the auxiliary of camera and is launched, and mobile station, which is write down, launches position Postpone and continue on, when detection end needs return, the road of backhaul is planned at PC ends according to the position of the repeater of dispensing Line, then sends the signal to first control device by second control device, and first control device is believed according to the path of reception Number it is open to traffic, after original release position is run to, handgrip, which starts to collect the repeater launched before, places repeater Storage Box In, then proceed to advance.

Embodiment described above is only the preferred embodiment to absolutely prove the application and being lifted, the protection model of the application Enclose not limited to this.The equivalent substitute or conversion that those skilled in the art are made on the basis of the application, in the application Protection domain within.The protection domain of the application is subject to claims.

Claims (10)

1. a kind of autonomous platform, including platform body and the chassis that is arranged on the platform body, it is characterised in that it is described Platform body has front and rear end, and the direction of the chassis along front end to rear end is equipped with the first installation region, the second peace successively Dress region and the 3rd installation region, first installation region are equipped with elevating mechanism and the crawl above the elevating mechanism Device, second installation region are equipped with first control device, the router, multiple being arranged on above the first control device Motor driver and multiple analog line drivers, the 3rd installation region are equipped with second control device and are arranged on described second PC ends on the downside of control device, are additionally provided with radiator on the chassis.

2. autonomous platform according to claim 1, it is characterised in that the radiator includes being arranged on the described second peace Fill the fan between region and the 3rd installation region and the ice chest arranged on the second control device both sides.

3. autonomous platform according to claim 2, it is characterised in that the elevating mechanism can relatively described bottom including one The pressing plate of disk upper surface relative motion, the upside of the pressing plate, which is equipped with one, has the installing plate of lug, the lug of the installing plate Place stretches into the second installation region from the first installation region, and more sunpenders are also equipped with the pressing plate, and the upper end of the sunpender leads to Cross the upper surface that a stage is held in the pressing plate, the lower end of the sunpender and the detection of the lift side arranged on the elevating mechanism Device connects, and the sunpender is arranged with compression spring in the bar segment between the detection device and the pressing plate, the compression spring Upper end supports the lower surface of the pressing plate, and the lower end of the compression spring supports the upper surface of the detection device.

4. autonomous platform according to claim 3, it is characterised in that set on the installing plate in the second installation region There is the 5th driving device, the output terminal of the 5th driving device is connected with one end of a transmission device, the transmission device The other end is connected with the input terminal of a screw pair, and the pressing plate is connected with the output terminal of the screw pair, and by institute The output terminal for stating screw pair drives the upper surface on relatively described chassis to pump.

5. autonomous platform according to claim 3, it is characterised in that the detection device includes surface contamination detector With the first gamma detector arranged on the surface contamination detector side, the lower end of the compression spring supports the surface contamination detection The upper surface of device.

6. autonomous platform according to claim 3, it is characterised in that the grabbing device includes being arranged on the installation Manipulator on plate and the handgrip that the manipulator actuating station is arranged on by a handgrip installing plate, are additionally provided with the installing plate First installation position and the second installation position, first installation position are provided with multiple vision inspection apparatus, the second installation position peace Equipped with the second gamma detector.

7. autonomous platform according to claim 1, it is characterised in that further include and be respectively arranged on the platform body front end With the anticollision mechanism of rear end, the anticollision mechanism includes an anticollision portion and two connecting portions being parallel to each other, two connecting portions One end by a connection piece with the chassis is detachable is fixedly connected, the both ends in the anticollision portion are another with two connecting portions respectively One end connects.

8. autonomous platform according to claim 6, it is characterised in that further include the shape phase of a bottom and the chassis The housing of adaptation, the housing is equipped with repeater Storage Box, multiple repeaters is equipped with the repeater Storage Box, positioned at flat The lateral surface of the housing of playscript with stage directions body front end is equipped with a netted installing plate, and the lateral surface positioned at the housing of platform body rear end is equipped with the One control panel, the second control panel and antenna, the netted installing plate be equipped with multiple vision collecting devices, lighting device and Obstacle detector, the rear end of the platform body be equipped with the first control panel that the first control device is electrically connected and with The second control panel that the second control device is electrically connected, the first control device respectively with the repeater, the machine Tool hand, the motor driver, the analog line driver be electrically connected, the second control device respectively with the router, institute State vision collecting device, the obstacle detector, the antenna to be electrically connected, the first control device and the described second control Device processed is electrically connected.

9. autonomous platform according to claim 2, it is characterised in that the thickness on the chassis is 4mm-10mm, described The upper surface on chassis is equipped with the stereotype that thickness is 1mm-3mm, and the downside on the chassis is equipped with battery case, is set in the battery case There are multiple installing zones for being used to install battery.

10. autonomous platform according to claim 8, it is characterised in that further include a upper cover, the upper cover and the shell Body is connected by multiple tower buttons.