CN108082332A - A kind of intelligent carriage - Google Patents
A kind of intelligent carriage Download PDFInfo
- Publication number
- CN108082332A CN108082332A CN201711429472.9A CN201711429472A CN108082332A CN 108082332 A CN108082332 A CN 108082332A CN 201711429472 A CN201711429472 A CN 201711429472A CN 108082332 A CN108082332 A CN 108082332A
- Authority
- CN
- China
- Prior art keywords
- synchronous pulley
- platform body
- control device
- chassis
- driving device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R19/00—Wheel guards; Radiator guards, e.g. grilles; Obstruction removers; Fittings damping bouncing force in collisions
- B60R19/02—Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects
- B60R19/023—Details
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
This application discloses a kind of intelligent carriages, including the chassis being arranged on platform body, platform body be equipped with elevating mechanism, grabbing device and be respectively arranged on platform body front and rear end anticollision mechanism, grabbing device includes the manipulator of setting on a mounting board and the handgrip for being arranged on manipulator actuating station, anticollision mechanism includes an anticollision portion and two connecting portions being mutually parallel, 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.By setting grabbing device, elevating mechanism and anticollision mechanism, to realize the place autonomous operation in bad environments and ensure that communication when long range traveling is stablized, the scope of application of the application is improved, improves service life.
Description
Technical field
This application involves autonomous inspection technical field more particularly to a kind of intelligent carriages.
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 since single various detections need difference
Detection pattern, existing function is single, detection pattern critical constraints.
Apply for content
The application technical problems to be solved are to provide a kind of four axis grabbing devices, by setting grabbing device, elevator
Structure and anticollision mechanism are steady come communication when accomplishing to launch repeater guarantee long range traveling when realizing remote inspection
It is fixed, improve the scope of application of the application.
In order to solve the above-mentioned technical problem, this application provides intelligent carriage, including platform body and arranged on the platform
Chassis on body, the platform body are equipped with elevating mechanism, grabbing device and the front end for being respectively arranged on the platform body
With the anticollision mechanism of rear end, 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, is equipped with more sunpenders on the pressing plate, the upper end of the sunpender passes through one
Stage is held in the upper surface of the pressing plate, the lower end of the sunpender and the detection device of the lift side arranged on the elevating mechanism
Connection, the sunpender are arranged with compression spring, the upper end of the compression spring in the rod segment between the detection device and the pressing plate
The lower surface of the pressing plate is supported, the lower end of the compression spring supports the detection device, and the grabbing device includes being arranged on institute
It states the manipulator on installing plate and is arranged on the handgrip of the manipulator actuating station, the anticollision mechanism includes an anticollision portion and two
The connecting portion being mutually parallel, one end of two connecting portions by a connection piece with the chassis is detachable is fixedly connected, institute
The other end of the both ends in anticollision portion respectively with two connecting portions is stated to be connected.
Further, the installing plate at lug is equipped with the 5th driving device, the output of the 5th driving device
End is connected with one end of a transmission device, and the other end of the transmission device is connected with the input terminal of a screw pair, described
Pressing plate is connected with the output terminal of the screw pair, and drives relatively described chassis by the output terminal of the screw pair
Upper surface pumps.
Further, the transmission device includes the first synchronous pulley being connected with the output terminal of the driving device and sets
It puts the second synchronous pulley on the installing plate, the 3rd synchronous pulley and is arranged on second synchronous pulley and described the
The 4th synchronous pulley between three synchronous pulleys, the conveyer belt of the transmission device sequentially pass through first synchronous pulley,
Two synchronous pulleys, the 4th synchronous pulley and the 3rd synchronous pulley.
Further, the screw pair includes the first screw pair and the second screw pair, each silk
Thick stick pair of nut includes leading screw and the sliding block on the leading screw, the upper end of the leading screw of first screw pair and described the
Two synchronous pulleys are rotatablely connected, and the lower end of the leading screw of first screw pair is connected by a bearing with the chassis, institute
The sliding block for stating the first screw pair is connected with the pressing plate, the upper end of the leading screw of second screw pair and the described 3rd
Synchronous pulley is rotatablely connected, and the lower end of the leading screw of second screw pair is connected by a bearing with the chassis, described
The sliding block of second screw pair is connected with the pressing plate.
Further, the detection device includes surface contamination detector and arranged on the surface contamination detector one side
First gamma detector, the lower end of the compression spring support the upper surface of the surface contamination detector.
Further, the manipulator include rotate with the platform body be connected first driving means, with it is described
The output terminal of first driving means rotate connection the second driving device mounting base, be placed in second driving device installation
The second driving device, the first mounting base being connected that rotates with the output terminal of second driving device in seat, one end are arranged on
First connecting rod on the side wall of first mounting base, arranged on the first connecting rod the other end the second mounting base, be placed in institute
State the 3rd driving device in the second mounting base, one end is rotated by the output shaft of a transfer block and the 3rd driving device
The second connecting rod of connection, the 3rd mounting base being fixedly connected with the other end of the second connecting rod, arranged on the 3rd mounting base
Interior four-drive device, the handgrip installing plate being connected that rotates with the output shaft of the four-drive device are grabbed arranged on described
Lifting cylinder on hand installing plate, the handgrip are arranged on the actuating station of the lifting cylinder, are additionally provided on the installing plate multiple
It is installation position.
Further, there are two the installation positions, two installation positions are respectively the first installation position and the second installation position, described
First installation position is equipped with multiple vision inspection apparatus, and second installation position is equipped with the second gamma detector.
Further, the anticollision portion further includes first control device and second control device on the chassis,
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, illumination
Device and obstacle detector, the rear end of the platform body are equipped be electrically connected respectively with the first control device first
Control panel and the second control panel being electrically connected with the second control device, the second control device regard respectively with described
Feel harvester, obstacle detector electrical connection, the first control device is electrically connected with the second control device.
Further, the first control device respectively with first driving means, second driving device, described
3rd driving device, the four-drive device, the lifting cylinder and the 5th driving device electrical connection.
Further, repeater Storage Box is additionally provided on the platform body, is equipped in the repeater Storage Box multiple
Repeater, the repeater are connected with the first control device signal.
The advantageous effect of the application is：
1) 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；
2) 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；
3) 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 the tray with cambered surface is set on anticollision mechanism so that the anticollision portion realization anticollision of the application,
Artificial lift to move, machinery lift by crane integrated design, and integral structure layout is reasonable；
4) the application realizes safety by being arranged on vision collecting device, the obstacle detector of platform body front end
Avoidance.
Above description 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 be described in detail as after.
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
It puts, 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 control plane
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.
Specific embodiment
The application is described further in the following with reference to the drawings and specific embodiments, so that those skilled in the art can be with
It more fully understands 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 intelligent carriage described in one preferred embodiment of this explanation including platform body 1 and is set
Chassis 2 on the platform body 1, the downside on chassis 2 are equipped with battery case 4, and 16 are equipped in the battery case 4 for installing
The installing zone of battery.Facilitate the front end of platform body as defined in the application to describe as normal driving headstock portion, platform body
Rear end be the tailstock portion that normally drives a vehicle, in order to make design structure more compact, integrally seem simple and beautiful, preferably chassis
2 are 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, first
Elevating mechanism 12 is equipped in installation region 6 and the grabbing device 14 above the elevating mechanism 12, the second installation region are set
Have first control device 16, the router 18 for being arranged on 16 top of the first control device, multiple motor drivers 20 and
Multiple analog line drivers 22 are equipped with second control device 17 in the 3rd installation region and are arranged under the second control device 17
The PC ends 19 of side are additionally provided with radiator on the chassis 2, and preferably radiator includes being arranged on second installation region and institute
State the fan 24 between the 3rd installation region and the ice chest 26 arranged on the second control device both sides.
Wherein, in order to allow to contact 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 on 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, rod 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 one 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 motor, 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 being 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 the second synchronous pulley 1208, the 3rd synchronous pulley 1209 that are arranged on the installing plate 1202 (be 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, the conveyer belt of the transmission device sequentially pass through described first together
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
It connects, and is 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,
There are two installation positions, 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 equipped with the second gamma detector.
In order to realize the communication of long range, repeater Storage Box 28, the repeater storage are additionally provided on platform body
Multiple repeaters are equipped in 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 which the mobile station for enabling the application is freely advanced 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 mutually parallel 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 buffer layer in anticollision portion.
Specifically, the intelligent carriage of the application further includes the housing that a bottom is adapted with the shape on the chassis, it is located at
The lateral surface of the housing of platform body front end is equipped with a netted installing plate 34, and the lateral surface positioned at the housing of platform body rear end is set
There are the first control panel 36, the second control panel 38 and the antenna 40 for receiving signal, the netted installing plate 34 is equipped with
Multiple vision collecting devices, lighting device and obstacle detector, preferably vision inspection apparatus are respectively infrared including two
Camera 44 and depth camera 42, preferably obstacle detector are the laser thunder being arranged on by mounting base on the netted installing plate
It reaches, the first control panel being electrically connected with first control device is equipped in the rear end of platform body and is electrically connected with second control device
The second control panel connect, includes multiple USB interfaces, emergency stop switch and mesh on the first control panel, on the second control panel
General aviation socket including multiple USB interfaces and detector.First control device respectively with the repeater, the machinery
Hand, the motor driver, analog line driver electrical connection, the second control device respectively with the router, described
Vision collecting device, the obstacle detector, antenna electrical connection, 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 intelligent carriage of the application further includes upper cover, the upper cover passes through multiple tower buttons 48 with the housing 50
Connection.
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.
For handgrip is made to realize crawl repeater and launches repeater, preferably vision inspection apparatus is two cameras, camera
Communication connection.
Operation principle：
The intelligent carriage of the application is placed in region to be maked an inspection tour, mobile station starts autonomous operation, first control device control
Mobile station processed is advanced, while is arranged on the vision collecting device of mobile station front end and obstacle detector starts to mobile station
Travel zone is scanned, and the path data collected then is sent to second control device is then stored in PC ends, and second
Control device is sent to first control device according to the path data of acquisition, and first control device is according to the letter of second control device
The traveling of number control mobile station, the manipulator on the upside of elevating mechanism starts to move around on the top, makes to be mounted on the second installation
The second gamma detector on position starts to detect, and when running to a position to be detected, first control device control the 5th is driven
Dynamic device driving screw pair rotates the pressing plate downlink for driving be mounted on screw pair simultaneously and drives surface contamination detection
Device and the second gamma detector downlink mounted on surface contamination detector one side contact ground, are being to press under the action of compression spring to treat
The ground of detection proceeds by detection, and the result of detection then is sent to second control device is stored in PC ends, when operation compared with
When remote stroke, signal can be more and more weaker, after signal weaker is detected, first control device control machinery grabbing on hand
Hand starts to extend into crawl repeater at repeater Storage Box under the auxiliary of camera and is launched, and mobile station writes down placement position
After continue on, when detection terminate need return when, PC ends according to the position of the repeater of dispensing plan backhaul route,
Then first control device is sent the signal to by second control device, first control device is opened according to the path signal of reception
Begin vehicle, and after original release position is run to, handgrip starts to collect in the repeater placement repeater Storage Box launched before, so
After continue on.
Embodiment described above is only the preferred embodiment to absolutely prove the application and being lifted, the protection model of the application
It encloses without being limited thereto.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 intelligent carriage, the chassis including platform body and on the platform body, which is characterized in that the platform
Body be equipped with elevating mechanism, grabbing device and be respectively arranged on the platform body front and rear end anticollision mechanism, it is described
Elevating mechanism include one can relatively described chassis upper surface relative motion pressing plate, the upside of the pressing plate, which is equipped with one, has lug
Installing plate, be equipped with more sunpenders on the pressing plate, the upper end of the sunpender is held in the upper of the pressing plate by a stage
Surface, the lower end of the sunpender are connected with the detection device of the lift side arranged on the elevating mechanism, and the sunpender is located at described
Compression spring is arranged in rod segment between detection device and the pressing plate, the upper end of the compression spring supports the lower surface of the pressing plate,
The lower end of the compression spring supports the detection device, and the grabbing device includes the manipulator being arranged on the installing plate and sets
The handgrip in the manipulator actuating station is put, the anticollision mechanism includes an anticollision portion and two connecting portions being mutually parallel, two institutes
State one end of connecting portion by a connection piece with the chassis is detachable is fixedly connected, the both ends in the anticollision portion are respectively with two
The other end connection of connecting portion.
2. intelligent carriage according to claim 1, which is characterized in that the installing plate at lug is equipped with the 5th driving
Device, the output terminal of the 5th driving device are connected with one end of a transmission device, the other end of the transmission device and one
The input terminal connection of screw pair, the pressing plate are connected with the output terminal of the screw pair, and by the feed screw nut
Secondary output terminal drives the upper surface on relatively described chassis to pump.
3. intelligent carriage according to claim 2, which is characterized in that the transmission device includes and the driving device
First synchronous pulley of output terminal connection and the second synchronous pulley being arranged on the installing plate and are set the 3rd synchronous pulley
Put the 4th synchronous pulley between second synchronous pulley and the 3rd synchronous pulley, the conveyer belt of the transmission device
Sequentially pass through first synchronous pulley, the second synchronous pulley, the 4th synchronous pulley and the 3rd synchronous pulley.
4. intelligent carriage according to claim 3, which is characterized in that the screw pair includes the first screw pair
With the second screw pair, each screw pair includes leading screw and the sliding block on the leading screw, described first
The upper end of the leading screw of thick stick pair of nut is rotatablely connected with second synchronous pulley, the lower end of the leading screw of first screw pair
It is connected by a bearing with the chassis, the sliding block of first screw pair is connected with the pressing plate, second leading screw
The upper end of the leading screw of pair of nut is rotatablely connected with the 3rd synchronous pulley, and the lower end of the leading screw of second screw pair leads to
It crosses a bearing to be connected with the chassis, the sliding block of second screw pair is connected with the pressing plate.
5. intelligent carriage according to claim 1, which is characterized in that the detection device include surface contamination detector and
The first gamma detector arranged on the surface contamination detector one side, the lower end of the compression spring support the surface contamination detector
Upper surface.
6. intelligent carriage according to claim 2, which is characterized in that the manipulator includes turning with the platform body phase
The installation of the first driving means, the second driving device being connected that rotates with the output terminal of the first driving means of dynamic connection
Seat, the second driving device being placed in the second driving device mounting base, the output terminal phase turn with second driving device
First mounting base of dynamic connection, one end are arranged on first connecting rod on the side wall of first mounting base, arranged on the first connecting rod
The second mounting base of the other end, the 3rd driving device being placed in second mounting base, one end pass through a transfer block and institute
State the 3rd driving device output shaft rotate the second connecting rod of connection, be fixedly connected with the other end of the second connecting rod
Three mounting bases, the four-drive device in the 3rd mounting base rotate with the output shaft of the four-drive device
The handgrip installing plate of connection, the lifting cylinder on the handgrip installing plate, the handgrip are arranged on holding for the lifting cylinder
Row end, it is installation position to be additionally provided with multiple on the installing plate.
7. intelligent carriage according to claim 6, which is characterized in that there are two the installation positions, two installation position difference
For the first installation position and the second installation position, first installation position is equipped with multiple vision inspection apparatus, second installation position
Second gamma detector is installed.
8. intelligent carriage according to claim 6, which is characterized in that the anticollision portion is further included on the chassis
First control device and second control device, the front end of the platform body are equipped with a netted installing plate, 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 respectively with
First control panel of the first control device electrical connection and the second control panel being electrically connected with the second control device,
The second control device is electrically connected respectively with the vision collecting device, the obstacle detector, first control
Device is electrically connected with the second control device.
9. intelligent carriage according to claim 8, which is characterized in that the first control device drives respectively with described first
Dynamic device, second driving device, the 3rd driving device, the four-drive device, the lifting cylinder and institute
State the electrical connection of the 5th driving device.
10. intelligent carriage according to claim 8, which is characterized in that repeater storage is additionally provided on the platform body
Box, the repeater Storage Box is interior to be equipped with multiple repeaters, and the repeater is connected with the first control device signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711429472.9A CN108082332A (en) | 2017-12-26 | 2017-12-26 | A kind of intelligent carriage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711429472.9A CN108082332A (en) | 2017-12-26 | 2017-12-26 | A kind of intelligent carriage |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108082332A true CN108082332A (en) | 2018-05-29 |
Family
ID=62179137
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711429472.9A Withdrawn CN108082332A (en) | 2017-12-26 | 2017-12-26 | A kind of intelligent carriage |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108082332A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110649955A (en) * | 2019-09-23 | 2020-01-03 | 重庆特斯联智慧科技股份有限公司 | Relay device for enhancing coverage of Internet of things in public area |
-
2017
- 2017-12-26 CN CN201711429472.9A patent/CN108082332A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110649955A (en) * | 2019-09-23 | 2020-01-03 | 重庆特斯联智慧科技股份有限公司 | Relay device for enhancing coverage of Internet of things in public area |
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Application publication date: 20180529 |
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