CN107972002A - Integral multifunctional trolley - Google Patents

Abstract

This application discloses integral multifunctional trolley, including the chassis being arranged on platform body, platform body is equipped with elevating mechanism and is respectively arranged on the anticollision mechanism of the front and rear end of platform body, elevating mechanism can be with respect to the pressing plate of chassis upper surface relative motion including one, more sunpenders are equipped with pressing plate, sunpender is arranged with compression spring in the bar segment between detection device and pressing plate, the upper end of compression spring supports the lower surface of pressing plate, the lower end of compression spring supports detection device, anticollision mechanism includes an anticollision portion and two connecting portions being parallel to each other, one end of two connecting portions by a connection piece with chassis is detachable is fixedly connected, the other end of the both ends in anticollision portion respectively with two connecting portions is connected, the application can realize collection anticollision, artificial lift to move, machinery lifting is integrated, it is simple in structure.

Description

Integral multifunctional trolley

Technical field

This application involves mobile device, more particularly to integral multifunctional trolley.

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, due to live complicated detection Environment is unpredictable, therefore higher to the performance requirement of trolley.Complicated and detection pattern is single mostly for existing trolley.

Apply for content

The application technical problems to be solved are to provide integral multifunctional trolley, are lifted by being set on platform body Mechanism and anticollision mechanism, realize the needs that disclosure satisfy that a variety of detection patterns, and anticollision mechanism can realize collection anticollision, manually remove The structure needs that lift, machinery lifting are integrated so that overall structure is more traditional to be compared more simply, and use scope is wider It is general.

In order to solve the above-mentioned technical problem, this application provides integral multifunctional trolley, including platform body and it is placed in Chassis on the platform body, the platform body be equipped with elevating mechanism and be respectively arranged on the platform body front end and The anticollision mechanism of rear end, the elevating mechanism include one can relatively described chassis upper surface relative motion pressing plate, the pressing plate On be equipped with more sunpenders, the upper end of the sunpender is held in the upper surface of the pressing plate by a stage, under the sunpender The detection device with the lift side arranged on the elevating mechanism is held to be connected, the sunpender is located at the detection device and the pressing plate Between bar segment on be arranged with compression spring, the upper end of the compression spring supports the lower surface of the pressing plate, and the lower end of the compression spring supports The detection device, the anticollision mechanism include an anticollision portion and two connecting portions being parallel to each other, one end of two connecting portions By a connection piece with the chassis is detachable is fixedly connected, the both ends in the anticollision portion other end with two connecting portions respectively Connection, 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, the upside of the pressing plate, which is equipped with one, has the installing plate of lug, is set on the installing plate at lug There is one 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 be 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 output terminal of the screw pair drives the upper surface on relatively described chassis to pump.

Further, the transmission device includes the first synchronous pulley being connected with the output terminal of the 5th driving device With the second synchronous pulley being arranged on the installing plate, the 3rd synchronous pulley and be arranged on second synchronous pulley and institute The 4th synchronous pulley between the 3rd synchronous pulley is stated, the conveyer belt of the transmission device sequentially passes through first synchronous belt Wheel, the second synchronous pulley, the 4th synchronous pulley and the 3rd synchronous pulley.

Further, the screw pair includes two, respectively the first screw pair and the second screw pair, Each screw pair includes leading screw and the sliding block on the leading screw, the leading screw of first screw pair it is upper End is rotatablely connected with second synchronous pulley, and the lower end of the leading screw of first screw pair passes through a bearing and the bottom Disk connects, and the sliding block of first screw pair is connected with the pressing plate, the upper end of the leading screw of second screw pair It is rotatablely connected with the 3rd synchronous pulley, the lower end of the leading screw of second screw pair passes through a bearing and the chassis Connection, the sliding block of second screw pair are connected with the pressing plate.

Further, the anticollision mechanism further includes first control device and the second control dress on the chassis Put, the front end of the platform body is equipped with a netted installing plate, and the netted installing plate is equipped with multiple vision collecting devices, shines Bright device and obstacle detector, the rear end of the platform body are equipped with the be electrically connected respectively with the first control device One control panel and the second control panel being electrically connected with the second control device, the second control device respectively with it is described Vision collecting device, the obstacle detector are electrically connected, and the first control device is electrically connected with the second control device Connect.

Further, the vision collecting device includes two, is respectively infrared camera and depth camera.

Further, the obstacle detector is the laser thunder being arranged on by mounting base on the netted installing plate Reach.

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, the first control device is electrically connected with the 5th driving device.

Further, the lighting device includes two headlamps, and the headlamp is supplied by the battery in the battery case Electricity, first control panel are equipped with the switch of headlamp.

The beneficial effect of the application is：

1) 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 so that the anticollision portion of the application integrates anticollision, artificial lift to move, the structure needs of machinery lifting, makes Overall structure it is more traditional compared to more simple, use scope is more extensive；

2) the application sets detection device by the lift side in elevating mechanism, it is possible to achieve meets that needs detection device is tight Press ground to realize the special detection mode of the purpose of detection, be to avoid for detection device and trolley in the way of traveling The damage of energy, can be risen to by elevating mechanism and apart from ground certain altitude, be achieved in the detection need for meeting special pattern Will.

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 integral multifunctional trolley described in one preferred embodiment of this explanation, including platform sheet Body 1 and the chassis 2 being arranged on the platform body 1, the downside on chassis 2 are equipped with battery case 4,16 are equipped with the battery case 4 A installing zone for being used to install battery.Facilitate the front end of platform body as defined in the application to describe as normal driving headstock Portion, the rear end of platform body are the tailstock portion normally to drive a vehicle, in order to make design structure more compact, integrally seem concise beauty See, preferably chassis 2 is equipped with the first installation region 6, the second installation region 8 and the 3rd installing zone successively along the direction of front end to rear end Domain 10, is equipped with elevating mechanism 12 and the grabbing device 14 above the elevating mechanism 12 in the first installation region 6, and second Installation region is equipped with first control device 16, the router 18 for being arranged on the top of first control device 16, the drive of multiple motors Dynamic device 20 and multiple analog line drivers 22, second control device 17 is equipped with the 3rd installation region and is arranged on second control The PC ends 19 of the downside of device processed 17, are additionally provided with radiator on the chassis 2, preferably radiator includes being arranged on the described second peace Fill the fan 24 between region and the 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 integral multifunctional trolley of the application further includes the shell that a bottom is adapted with the shape on the chassis Body, the lateral surface positioned at the housing of platform body front end be equipped with a netted installing plate 34, the housing positioned at platform body rear end Lateral surface is equipped with the first control panel 36, the second control panel 38 and the antenna 40 for receiving signal, the netted installing plate 34 are equipped with multiple vision collecting device, lighting device and obstacle detectors, and preferably vision inspection apparatus includes two, point Not Wei infrared camera 44 and depth camera 42, preferably obstacle detector be by mounting base be arranged on the netted installing plate on Laser radar, the first control panel for being electrically connected with first control device is equipped with the rear end of platform body and is controlled with second The second control panel that device is electrically connected, multiple USB interfaces, emergency stop switch and mesh are included on the first control panel, and second controls Include the general aviation socket of multiple USB interfaces and detector on panel processed.First control device respectively with the repeater, institute State manipulator, the motor driver, the analog line driver be electrically connected, the second control device respectively with the route Device, the vision collecting device, the obstacle detector, the antenna be electrically connected, the first control device with it is 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 integral multifunctional trolley of the application further includes upper cover, the upper cover is with the housing 50 by more A tower button 48 connects.

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 integral multifunctional trolley of the application is placed in region to be maked an inspection tour, mobile station starts autonomous operation, the first control Device processed control mobile station is advanced, while is arranged on the vision collecting device of mobile station front end and obstacle detector starts pair The travel zone of mobile station is scanned, and the path data collected then is sent to second control device is then stored in PC End, second control device are sent to first control device according to the path data of collection, and first control device is according to the second control The traveling of the signal control mobile station of device, the manipulator on the upside of elevating mechanism start to move around on the top, make to be installed on The second gamma detector on second installation position starts to detect, when running to a position to be detected, first control device control Make the 5th driving device driving screw pair and rotate while drive the pressing plate downlink drive surface being installed on screw pair Pollution detection device and installed in surface contamination detector side the second gamma detector downlink contact ground, be the effect of compression spring Under press ground to be detected and proceed by detection, the result of detection then is sent to second control device is stored in PC ends, When stroke farther out is run, signal can be more and more weaker, after signal weaker is detected, first control device control machinery Handgrip on hand starts to extend into crawl repeater at repeater Storage Box under the auxiliary of camera and is launched, and mobile station is write down Continued on after placement position, when detection end needs return, PC ends are planned back according to the position of the repeater of dispensing The route of journey, then sends the signal to first control device, first control device is according to reception by second control device Path signal is open to traffic, and after original release position is run to, handgrip starts to collect the repeater placement repeater launched before In Storage Box, 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. integral multifunctional trolley, including platform body and the chassis that is placed on the platform body, it is characterised in that it is described Platform body is equipped with elevating mechanism and is respectively arranged on the anticollision mechanism of the front and rear end of the platform body, the elevator Structure include one can relatively described chassis upper surface relative motion pressing plate, be equipped with more sunpenders, the sunpender on the pressing plate Upper end the upper surface of the pressing plate, the lower end of the sunpender and the lifting arranged on the elevating mechanism are held in by a stage The detection device connection at end, the sunpender are arranged with compression spring in the bar segment between the detection device and the pressing plate, institute The upper end for stating compression spring supports the lower surface of the pressing plate, and the lower end of the compression spring supports the detection device, the anticollision mechanism 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, and the downside on the chassis is equipped with Battery case, the battery case are interior equipped with multiple installing zones for being used to install battery.

2. integral multifunctional trolley according to claim 1, it is characterised in that the upside of the pressing plate, which is equipped with one, to be had The installing plate of lug, the installing plate at lug are equipped with one the 5th driving device, the output terminal of the 5th driving device It is connected with one end of a transmission device, the other end of the transmission device is connected with the input terminal of a screw pair, the pressure Plate is connected with the output terminal of the screw pair, and drives the upper of relatively described chassis by the output terminal of the screw pair Surface pumps.

3. integral multifunctional trolley according to claim 2, it is characterised in that the transmission device includes and described the It is first synchronous pulley of the output terminal connection of five driving devices and the second synchronous pulley being arranged on the installing plate, the 3rd same Step belt wheel and the 4th synchronous pulley being arranged between second synchronous pulley and the 3rd synchronous pulley, the transmission The conveyer belt of device sequentially passes through first synchronous pulley, the second synchronous pulley, the 4th synchronous pulley and the 3rd synchronous pulley.

4. integral multifunctional trolley according to claim 3, it is characterised in that the screw pair includes two, Respectively the first screw pair and the second screw pair, each screw pair include leading screw and arranged on the leading screws On sliding block, the upper end of the leading screw of first screw pair and second synchronous pulley be rotatablely connected, described first The lower end of the leading screw of thick stick pair of nut is connected by a bearing with the chassis, sliding block and the pressure of first screw pair Plate connects, and the upper end of the leading screw of second screw pair is rotatablely connected with the 3rd synchronous pulley, second leading screw The lower end of the leading screw of pair of nut is connected by a bearing with the chassis, sliding block and the pressing plate of second screw pair Connection.

5. integral multifunctional trolley according to claim 2, it is characterised in that the anticollision mechanism is further included arranged on institute The first control device and second control device on chassis are stated, the front end of the platform body is equipped with a netted installing plate, described Netted installing plate is equipped with multiple vision collecting device, lighting device and obstacle detectors, the rear end of the platform body Be electrically connected equipped with the first control panel being electrically connected respectively with the first control device and with the second control device Two control panels, the second control device are electrically connected with the vision collecting device, the obstacle detector respectively, institute First control device is stated to be electrically connected with the second control device.

6. integral multifunctional trolley according to claim 5, it is characterised in that the vision collecting device includes two It is a, it is respectively infrared camera and depth camera.

7. integral multifunctional trolley according to claim 5, it is characterised in that the obstacle detector is to pass through Mounting base is arranged on the laser radar on the netted installing plate.

8. integral multifunctional trolley according to claim 1, it is characterised in that the thickness on the chassis is 4mm- 10mm, the upper surface on the chassis are equipped with the stereotype that thickness is 1mm-3mm, and the downside on the chassis is equipped with battery case, described Equipped with multiple installing zones for being used to install battery in battery case.

9. integral multifunctional trolley according to claim 5, it is characterised in that the first control device and described the Five driving devices are electrically connected.

10. integral multifunctional trolley according to claim 5, it is characterised in that the lighting device includes two photographs Bright lamp, the headlamp are equipped with the switch of headlamp by the battery powered in the battery case, first control panel.