CN109975061A - A kind of cavern substance Prospecting vehicle and its surveying method - Google Patents
A kind of cavern substance Prospecting vehicle and its surveying method Download PDFInfo
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- CN109975061A CN109975061A CN201910251073.0A CN201910251073A CN109975061A CN 109975061 A CN109975061 A CN 109975061A CN 201910251073 A CN201910251073 A CN 201910251073A CN 109975061 A CN109975061 A CN 109975061A
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- 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
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/04—Devices for withdrawing samples in the solid state, e.g. by cutting
- G01N1/08—Devices for withdrawing samples in the solid state, e.g. by cutting involving an extracting tool, e.g. core bit
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/04—Devices for withdrawing samples in the solid state, e.g. by cutting
- G01N1/08—Devices for withdrawing samples in the solid state, e.g. by cutting involving an extracting tool, e.g. core bit
- G01N2001/085—Grabs
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Abstract
The invention discloses a kind of cavern substance Prospecting vehicle and its surveying methods, it include: terminal carrier handgrip, damping device and driving Buffer Unit, terminal carrier handgrip includes compartment, the turntable that the compartment end is arranged in, mechanical gripper above idling platform is set, it is arranged in the other end of collecting box in the compartment, and the control device of interior is set；Damping device includes the height adjustment device for penetrating the compartment, the pendulous device with height adjustment device rotation connection, and the middle-end damping device connecting with the pendulous device；Driving Buffer Unit includes the front-end driven device being arranged in below the compartment end, and the rear end driving device connecting with pendulous device.The present invention designs front-end driven device, when headstock has a down dip, front-end driven device carries out brought pressure when buffering leans forward to two sides, and then reduces the loss of end driving wheel, and design pendulous device can also walk when encountering crankcase ventilaton during Prospecting vehicle can be made to carry advance.
Description
Technical field
The present invention relates to a kind of cavern substance Prospecting vehicles, belong to prospecting landform technical field.
Background technique
Prospecting vehicle be can only robot and mobile device zoarium, and robot is the automatic installations for executing work,
It can not only receive mankind commander, but also can run the program of preparatory layout, can also be according to formulated with artificial intelligence technology
Principle program action, its task is to assist or replace the work of human work.
The fast development of modernization, intelligent industry development is especially rapid, emerges many exploration equipments, the bottom, mountainous region, gorge
Paddy, high-altitude, these landform have no longer become the mankind and have explored naturally obstruction.
But in existing Prospecting vehicle, in cavern prospecting since cavern landform essentially tilts down, Prospecting vehicle is working
In the process, due to gravity when prospecting, headstock leans forward phenomenon frequent occurrence, so as to bear pressure excessive for front-end driven wheel
It damages.
Summary of the invention
Goal of the invention: a kind of cavern substance Prospecting vehicle and its surveying method, to solve the above problem of the existing technology.
A kind of technical solution: cavern substance Prospecting vehicle, comprising:
Including compartment, the turntable of the compartment end is arranged in terminal carrier handgrip, and setting carries the mechanical gripping above the turntable
Hand is arranged in the other end of collecting box in the compartment, and the control device of the interior is arranged in；
Damping device, the height adjustment device including penetrating the compartment, the swing with height adjustment device rotation connection
Device, and the middle-end damping device being connect with the pendulous device；
Drive Buffer Unit, including being arranged in the front-end driven device below the compartment end, and with the pendulous device
The rear end driving device of connection.
In a further embodiment, the front-end driven device includes the fixed cross beam being fixedly connected with the compartment,
And two groups of mirror image units with fixed cross beam rotation connection, every group of mirror image unit includes the cross of fixed cross beam described in grafting
Beam shaft goes to the hydraulic stem of connection with the crossbeam shaft, is socketed the hydraulic spring grease cup of the hydraulic stem, with the hydraulic spring grease cup
The front-end driven wheel of connection, is arranged in level-one crossbeam, the second level crossbeam of front-end driven wheel side, and setting is horizontal in the level-one
Beam, the level-one shaft of second level beam-end, second level shaft, the elastic connection block being connect with the level-one shaft, second level shaft, with
And the driving motor of front-end driven wheel side is set, front-end driven device is designed when headstock has a down dip, front-end driven dress
It sets to two sides and carries out brought pressure when buffering leans forward, and then reduce the loss of end driving wheel.
In a further embodiment, the turntable includes the rotary shaft in compartment described in grafting, is arranged in the rotary shaft
On three groups of same supports, every pack support include with it is described rotation axis connection level-one bracket, connect with the level-one bracket
Secondary stent；The top of three groups of same supports is equipped with table top, designs turntable, and the orientation that can carry out mechanical gripper turns to,
Carry out accurate crawl cavern inner material.
In a further embodiment, the mechanical gripper includes the fixing seat being arranged in above table top, is consolidated described in grafting
The level-one bull stick of reservation, the level-one joint being fixedly connected with the level-one bull stick, the second level bull stick in level-one joint described in grafting, with
The second level joint that the second level bull stick is fixedly connected, the three-level bull stick in second level joint described in grafting, is fixed with the three-level bull stick
The three-level joint of connection, setting drive fixture in three-level joint end-fixture, and setting in three-level joint end
Gear set；Three-level joint end is additionally provided with visual sensor；The fixture is equipped with two groups, designs the machinery in three-level joint
Handgrip, cooperation turntable can carry out the accurate positioning in the same space.
In a further embodiment, the height adjustment device includes the two groups of teeth bar in compartment described in grafting, external member institute
State two groups of bevel gears of two groups of teeth bar, the rotary electric machine engaged with two groups of bevel gears；It is equipped between two groups of bevel gears
Predetermined gap, design height regulating device can be carried out in rear end driving device and middle-end damping device insufficient height to rear
The height adjustment for holding driving device and middle-end damping device, so that rear end driving device is more bonded with middle-end damping device
Ground.
In a further embodiment, the middle-end damping device includes the decoupling rod being arranged below rocker, described in socket
The middle-end damping wheel of the damping boom end is arranged in the damping spring of decoupling rod, and the limit of the decoupling rod side is arranged in
Frame, and the connector connecting with the position-limited rack, design middle-end damping device can carry out subtracting cavern substance Prospecting vehicle
Shake.
In a further embodiment, the gear set includes the first rack gear and the second tooth being fixedly connected with two groups of fixtures
Item, and the rotate gear engaged with first rack gear and the second rack gear.
A kind of surveying method of cavern substance Prospecting vehicle, comprising:
S1: when the work of cavern Prospecting vehicle, road is incuded by control device control visual sensor, controls rear end driving device
Cavern Prospecting vehicle is driven to be moved with front-end driven device；
S2: when cavern Prospecting vehicle encounters descending, headstock leans forward, and the two of front-end driven device group mirror image unit will be to two sides at this time
Slow down the brought pressure that leans forward；
S3: when encountering rugged hill path, middle part damping device and when rear end driving device insufficient height, by height adjustment device into
Row is to middle part damping device and rear end driving device height adjustment；
S4: when arriving at predetermined position, the turntable with mechanical gripper grabs the substance inside cavern, collecting box is put into, by mountain
Hole Prospecting vehicle is taken back, and carries out to cavern species analysis, whole-process control device passes the picture that visual sensor is sensed in real time
Transport to controlling terminal.
The utility model has the advantages that front-end driven device is designed the invention discloses a kind of cavern substance Prospecting vehicle and its surveying method,
When headstock has a down dip, front-end driven device carries out brought pressure when buffering leans forward to two sides, and then reduces end driving wheel
Loss, design pendulous device can also walk when encountering crankcase ventilaton during Prospecting vehicle can be made to carry advance.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention.
Fig. 2 is front-end driven apparatus structure schematic diagram of the present invention.
Fig. 3 is turntable schematic diagram of the present invention.
Fig. 4 is middle-end damping device schematic diagram of the present invention.
Fig. 5 is pendulous device schematic diagram of the present invention.
Fig. 6 is mechanical gripper schematic diagram of the present invention.
Fig. 7 is present clip drive gear set schematic diagram.
Appended drawing reference are as follows: front-end driven device 1, fixed cross beam 101, hydraulic stem 102, hydraulic spring grease cup 103, level-one crossbeam
104, front-end driven wheel 105, second level crossbeam 106, level-one shaft 107, second level shaft 108, crossbeam shaft 109, turntable 2, table top
201, rotary shaft 202, level-one bracket 203, secondary stent 204, middle-end damping device 3, middle-end damping wheel 301, damping spring
302, connector 303, position-limited rack 304, decoupling rod 305, rear end driving device 4, pendulous device 5, rocker 501, swing rod 502, liter
Bar 503, collecting box 6, height adjustment device 7, mechanical gripper 8, fixing seat 801, level-one bull stick 802, level-one joint 803, two drop
Grade bull stick 804, second level joint 805, three-level bull stick 806, three-level joint 807, visual sensor 808, fixture 809, gear set
810, rotate gear 810a, the first rack gear 810b, the second rack gear 810c.
Specific embodiment
In the following description, a large amount of concrete details are given so as to provide a more thorough understanding of the present invention.So
And it is obvious to the skilled person that the present invention may not need one or more of these details and be able to
Implement.In other examples, in order to avoid confusion with the present invention, for some technical characteristics well known in the art not into
Row description.
Appearance (front-end driven wheel is easy to appear damage) this problem is carefully studied through applicant, main reason is that,
Since cavern landform essentially tilts down when cavern is reconnoitred, Prospecting vehicle during the work time, due to gravity, warp when prospecting
Headstock often occurs to lean forward phenomenon, so that front-end driven wheel is born, pressure is excessive to be damaged, and the invention discloses one kind
Cavern substance Prospecting vehicle, design front-end driven device, when headstock has a down dip, front-end driven device to two sides carry out buffering lean forward when
Brought pressure, and then the loss of end driving wheel is reduced, design pendulous device is met during Prospecting vehicle can be made to carry advance
Can also walk when to crankcase ventilaton, the weight of pushing can be dispersed to two sides by front-end driven device, and then by hydraulic stem,
Hydraulic spring grease cup is slowed down, and the damage of front-end driven device is greatly reduced.
A kind of cavern substance Prospecting vehicle, comprising: front-end driven device 1, fixed cross beam 101, hydraulic stem 102, hydraulic spring grease cup
103, level-one crossbeam 104, front-end driven wheel 105, second level crossbeam 106, level-one shaft 107, second level shaft 108, crossbeam shaft
109, turntable 2, table top 201, rotary shaft 202, level-one bracket 203, secondary stent 204, middle-end damping device 3, middle-end damping wheel
301, damping spring 302, connector 303, position-limited rack 304, decoupling rod 305, rear end driving device 4, pendulous device 5, rocker
501, swing rod 502, elevating lever 503, collecting box 6, height adjustment device 7, mechanical gripper 8, fixing seat 801, level-one bull stick 802,
Level-one joint 803, second level bull stick 804, second level joint 805, three-level bull stick 806, three-level joint 807, visual sensor 808, folder
Have 809, gear set 810, rotate gear 810a, the first rack gear 810b, the second rack gear 810c.
Wherein, the front-end driven device 1 is connect with compartment, and the middle part in the compartment is equipped with height adjustment device 7, is told
The one end in compartment is equipped with collecting box 6, and other end is equipped with turntable 2, and the top of the turntable 2 is equipped with mechanical gripper 8, the swing
Device 5 and height adjustment device 7 are rotatablely connected, and one end of the pendulous device 5 is equipped with middle-end vibration absorber, the pendulous device
5 other end is equipped with rear end driving assembly, and the rear end driving assembly is one group of driving wheel, and the side of the driving wheel is equipped with
Motor, the inside in the compartment are equipped with control device, the control device wireless connection control terminal, and the controlling terminal is hand
Mechanical, electrical brain, plate wait electronic products, and the picture that can be reconnoitred with real-time Transmission cavern substance Prospecting vehicle can also pass through control
Terminal carries out the long-range control to control device, and then completes the control to cavern substance Prospecting vehicle.
The front-end driven device 1 includes the fixed cross beam 101 being fixedly connected with the compartment, and horizontal with the fixation
Two groups of mirror image units that beam 101 is rotatablely connected, every group of mirror image unit includes the crossbeam shaft 109 of fixed cross beam 101 described in grafting,
The hydraulic stem 102 that connection is gone to the crossbeam shaft 109 is socketed the hydraulic spring grease cup 103 of the hydraulic stem 102, with the liquid
The front-end driven wheel 105 that pressing spring 103 connects, level-one crossbeam 104, the second level that 105 side of front-end driven wheel is arranged in are horizontal
The level-one crossbeam 104, the level-one shaft 107 of 106 end of second level crossbeam, second level shaft 108 is arranged in, with described one in beam 106
The elastic connection block that grade shaft 107, second level shaft 108 connect, and the driving electricity of 105 side of front-end driven wheel is set
Machine designs front-end driven device 1 when headstock has a down dip, and front-end driven device 1 carries out brought pressure when buffering leans forward to two sides
Power, and then the loss of end driving wheel is reduced, the present invention designs front-end driven component, can both carry out driving cavern substance prospecting
Vehicle can also carry out the effectiveness in vibration suppression to headstock, and different from general damping mode, and general vibration damping takes vibration damping up and down,
And front end cross beam two sides do not have elasticity, so that vibration damping up and down can only be carried out, and front-end driven device 1 of the invention, setting two
Group mirror image unit, two mirror image units can be carried out along second level shaft 108, level-one shaft 107 and beam device to two lateral bends,
And then reaching effectiveness in vibration suppression, more preferably, and two groups of hydraulic stems 102 and hydraulic bullet are arranged in common effectiveness in vibration suppression to this vibration damping simultaneously therewith
Spring 103, double-layer vibration damping, so that effectiveness in vibration suppression is significant.
The turntable 2 includes the rotary shaft 202 in compartment described in grafting, and three groups be arranged in the rotary shaft 202 are identical
Bracket, every pack support include the level-one bracket 203 connecting with the rotary shaft 202, the second level connecting with the level-one bracket 203
Bracket 204；The top of three groups of same supports is equipped with table top 201, designs turntable 2, and the orientation that can carry out mechanical gripper 8 turns
To the accurate crawl cavern inner material of progress, the turntable 2 is rotated by rotary shaft 202, and then drives level-one bracket 203, two
Grade bracket 204 is rotated, and then the table top 201 that 204 top of secondary stent is arranged in is driven to be rotated.
The mechanical gripper 8 includes the fixing seat 801 that 201 top of table top is arranged in, the level-one of fixing seat 801 described in grafting
Bull stick 802, the level-one joint 803 being fixedly connected with the level-one bull stick 802, the second level bull stick in level-one joint 803 described in grafting
804, the second level joint 805 being fixedly connected with the second level bull stick 804, the three-level bull stick 806 in second level joint 805 described in grafting,
The three-level joint 807 being fixedly connected with the three-level bull stick 806 is arranged in 807 end-fixture 809 of three-level joint, and
The gear set 810 that 807 end of three-level joint drives fixture 809 is set；807 end of three-level joint is additionally provided with vision
Sensor 808；The fixture 809 is equipped with two groups, designs the mechanical gripper 8 in three-level joint 807, and cooperation turntable 2 can carry out together
Accurate positioning in one space, the mechanical device drive level-one joint 803 to be rotated by level-one bull stick 802, and then by two
Grade bull stick 804 drives second level joint 805 to be rotated, then drives three-level joint 807 to be rotated by three-level bull stick 806, can be with
More piece rotation is carried out, the rotation and three-level joint by 180 ° of the rotation in level-one joint, then by 270 ° of the progress of second level joint 805
270 ° of rotation, then cooperate 360 ° of turntable 2 to rotate, the multi-faceted crawl in space may be implemented, and then complete crawl work,
The gear set 810 includes the first rack gear 810b and the second rack gear 810c being fixedly connected with two groups of fixtures 809, and with it is described
The rotate gear 810a of first rack gear 810b and the second rack gear 810c engagement, when rotate gear 810a is rotated clockwise, first
Rack gear 810b and the second rack gear 810c is shunk, and then drives fixture 809, is clamped, and when rotate gear 810a turns counterclockwise
When dynamic, the first rack gear 810b and the second rack gear 810c loosen, so that fixture 809 is displaced outwardly, and then complete to loosen object.
The height adjustment device 7 includes the two groups of teeth bar in compartment described in grafting, two groups of cones of two groups of teeth bar described in external member
Gear, the rotary electric machine engaged with two groups of bevel gears；Predetermined gap, design height tune are equipped between two groups of bevel gears
Regulating device 7 can be carried out to rear end driving device 4 in rear end driving device 4 and 3 insufficient height of middle-end damping device
The height adjustment of damping device 3 is held, so that rear end driving device 4 is more bonded ground with middle-end damping device 3, height is adjusted
Regulating device 7 drives two groups of bevel gears by rotary electric machine, and then drives two groups of teeth bar, and then drive pendulous device 5, carries out height
Adjust, when encountering rugged road, rear end driving device 4 and 3 insufficient height of middle-end damping device so that car bottom with
Ground face contact, rubs, and damages compartment, height adjustment device 7 of the invention, adjustable rear end driving device 4 and middle-end
The height of damping device 3, and then rising height are allowed to reduce the friction in compartment and ground there are predetermined altitude with ground, and increase
Add contact of the rear end driving device 4 with middle-end damping device 3 with ground, increases the road holding and middle-end of rear end driving dress
The effectiveness in vibration suppression of vibration absorber.
The pendulous device 5 includes the elevating lever 503 being fixedly connected with ratch, and 503 end of elevating lever is arranged in
Swing rod 502, and go to the swing rod 502 rocker 501 of connection, design pendulous device 5 and height adjustment device 7 cooperate and make
With, so that rear end driving device 4 is more bonded on crankcase ventilaton with ground with middle-end damping device 3, the pendulum in wobble component
Frame 501 is swung along swing rod 502, so that the middle-end vibration absorber at 501 both ends of rocker is arranged in and rear end driving device 4 can
To be swung on ground with the hollow on ground, and then achieve the effect that be bonded ground, increases the road holding of rear end driving dress.
The middle-end damping device 3 includes the decoupling rod 305 of 501 lower section of setting rocker, is socketed subtracting for the decoupling rod 305
Spring 302 is shaken, the middle-end damping wheel 301 of 305 end of decoupling rod is set, the limit of 305 side of decoupling rod is set
Position frame 304, and the connector 303 connecting with the position-limited rack 304, design middle-end damping device 3 can be carried out to cavern object
The damping of matter Prospecting vehicle, buffer beam and shock-absorbing spring are used cooperatively to reach effectiveness in vibration suppression in middle-end damping device 3, and position-limited rack
304, then it is used to restriction site, prevents buffer beam depression distance excessive, and middle-end vibration damping wheel is designed as elastic wheel, also acts as portion
Divide effectiveness in vibration suppression, so that effectiveness in vibration suppression is more preferably.
Working principle explanation: when the work of cavern Prospecting vehicle, incuding road by control device control visual sensor 808,
Control rear end driving device 4 drives cavern Prospecting vehicle to be moved with front-end driven device 1, and rear end driving device 4 is driven by motor
Dynamic, front-end driven device 1 is driven by driving motor, and then completes the walking of cavern Prospecting vehicle, when cavern Prospecting vehicle encounters descending
When, headstock leans forward, and the two of front-end driven device 1 group mirror image unit will slow down the brought pressure that leans forward to two sides at this time, and two
Mirror image unit can be carried out along second level shaft 108, level-one shaft 107 and beam device to two lateral bends, and then reach vibration damping effect
Fruit, and two groups of hydraulic stems 102 and hydraulic spring grease cup 103, double-layer vibration damping are set simultaneously, so that effectiveness in vibration suppression is significant, it is rugged when encountering
When hill path, pendulous device 5 will be swung, and be swung along swing rod 502, so that middle part damping device and rear end driving device 4
It is bonded with ground, completes the walking in rugged hill path, when middle part damping device and 4 insufficient height of rear end driving device, by turning
Dynamic motor drives two groups of bevel gears, and then drives two groups of teeth bar, and then drives pendulous device 5, carries out height adjustment, and then drive
The height of middle part damping device and rear end driving device 4, when arriving at predetermined position, by the object inside mechanical device crawl cavern
Matter drives level-one joint 803 to be rotated, and then drives second level joint 805 to carry out by second level bull stick 804 by level-one bull stick 802
Rotation, then drive three-level joint 807 to be rotated by three-level bull stick 806, more piece rotation can be carried out, by 180 ° of level-one joint
Rotation, then by second level joint 805 carry out 270 ° rotation and 270 ° of three-level joint rotation, then with rotary shaft 202 rotate,
And then level-one bracket 203, secondary stent 204 is driven to be rotated, and then drive the table top that 204 top of secondary stent is set
201 are rotated, and rotation amplitude is 360 °, at this time when rotate gear 810a is rotated clockwise, the first rack gear 810b and second
Rack gear 810c is shunk, and then drives fixture 809, is clamped, and when rotate gear 810a is rotated counterclockwise, the first rack gear
810b and the second rack gear 810c loosen, so that fixture 809 is displaced outwardly, and then completes to loosen object, space may be implemented
Interior multi-faceted crawl, and then crawl work is completed, it drives mechanical gripper 8 to be rotated by turntable 2, collecting box 6 is put into, by mountain
Hole Prospecting vehicle is taken back, and then is carried out by staff to cavern species analysis, and whole-process control device is felt visual sensor 808
The picture real-time Transmission that should be arrived can be issued from controlling terminal and be ordered to controlling terminal, staff, and control cavern substance is reconnoitred
Vehicle, the present invention designs front-end driven device 1, and when headstock has a down dip, front-end driven device 1 carries out buffering the when institute's band that leans forward to two sides
The pressure come, and then the loss of end driving wheel is reduced, design pendulous device 5 encounters rugged during Prospecting vehicle can be made to carry advance
It can also walk when rugged road, and prospecting inside cavern, since cavern inner air is thin, and unmanned prospecting for a long time, meeting
Appearance endangers gas, and staff can not reach, and the substance of cavern lower end can be acquired out by the present invention, and staff carries out
Substance is analyzed, and then analyzes the extent of injury inside cavern.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
It is described the prefered embodiments of the present invention in detail above in conjunction with attached drawing, still, the present invention is not limited to above-mentioned realities
The detail in mode is applied, within the scope of the technical concept of the present invention, technical solution of the present invention can be carried out a variety of etc.
With transformation, these equivalents are all belonged to the scope of protection of the present invention.
Claims (8)
1. a kind of cavern substance Prospecting vehicle, characterized in that include:
Including compartment, the turntable of the compartment end is arranged in terminal carrier handgrip, and setting carries the mechanical gripping above the turntable
Hand is arranged in the other end of collecting box in the compartment, and the control device of the interior is arranged in；
Damping device, the height adjustment device including penetrating the compartment, the swing with height adjustment device rotation connection
Device, and the middle-end damping device being connect with the pendulous device；
Drive Buffer Unit, including being arranged in the front-end driven device below the compartment end, and with the pendulous device
The rear end driving device of connection.
2. a kind of cavern substance Prospecting vehicle according to claim 1, it is characterized in that: the front-end driven device includes and institute
State the fixed cross beam that compartment is fixedly connected, and two groups of mirror image units with fixed cross beam rotation connection, every group of mirror image list
Member includes the crossbeam shaft of fixed cross beam described in grafting, and the hydraulic stem of connection is gone to the crossbeam shaft, is socketed described hydraulic
The hydraulic spring grease cup of bar, the front-end driven wheel connecting with the hydraulic spring grease cup, the level-one that front-end driven wheel side is arranged in are horizontal
The level-one crossbeam, the level-one shaft of second level beam-end, second level shaft is arranged in beam, second level crossbeam, turns with the level-one
The elastic connection block that axis, second level shaft connect, and the driving motor of front-end driven wheel side is set.
3. a kind of cavern substance Prospecting vehicle according to claim 1, it is characterized in that: the turntable includes compartment described in grafting
Rotary shaft, three groups of same supports in the rotary shaft are set, and every pack support includes and the level-one of the rotation axis connection
Bracket, the secondary stent being connect with the level-one bracket；The top of three groups of same supports is equipped with table top.
4. a kind of cavern substance Prospecting vehicle according to claim 1, it is characterized in that: the mechanical gripper includes being arranged in platform
Fixing seat above face, the level-one bull stick of fixing seat described in grafting, the level-one joint being fixedly connected with the level-one bull stick, grafting
The second level bull stick in the level-one joint, the second level joint being fixedly connected with the second level bull stick, three of second level joint described in grafting
Grade bull stick, the three-level joint being fixedly connected with the three-level bull stick, setting exist in three-level joint end-fixture, and setting
The gear set that three-level joint end drives fixture；Three-level joint end is additionally provided with visual sensor；The fixture is set
There are two groups.
5. a kind of cavern substance Prospecting vehicle according to claim 1, it is characterized in that: the height adjustment device includes grafting
The two groups of teeth bar in the compartment, two groups of bevel gears of two groups of teeth bar described in external member, the rotation electricity engaged with two groups of bevel gears
Machine；Predetermined gap is equipped between two groups of bevel gears.
6. a kind of cavern substance Prospecting vehicle according to claim 1, it is characterized in that: the middle-end damping device includes setting
Decoupling rod below rocker is socketed the damping spring of the decoupling rod, and the middle-end damping wheel of the damping boom end is arranged in, if
Set the position-limited rack in the decoupling rod side, and the connector connecting with the position-limited rack.
7. a kind of cavern substance Prospecting vehicle according to claim 4, it is characterized in that: the gear set includes and two groups of fixtures
The first rack gear and the second rack gear being fixedly connected, and the rotate gear engaged with first rack gear and the second rack gear.
8. a kind of surveying method of cavern substance Prospecting vehicle, comprising:
S1: when the work of cavern Prospecting vehicle, road is incuded by control device control visual sensor, controls rear end driving device
Cavern Prospecting vehicle is driven to be moved with front-end driven device；
S2: when cavern Prospecting vehicle encounters descending, headstock leans forward, and the two of front-end driven device group mirror image unit will be to two sides at this time
Slow down the brought pressure that leans forward；
S3: when encountering rugged hill path, middle part damping device and when rear end driving device insufficient height, by height adjustment device into
Row is to middle part damping device and rear end driving device height adjustment；
S4: when arriving at predetermined position, the turntable with mechanical gripper grabs the substance inside cavern, collecting box is put into, by mountain
Hole Prospecting vehicle is taken back, and carries out to cavern species analysis, whole-process control device passes the picture that visual sensor is sensed in real time
Transport to controlling terminal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910251073.0A CN109975061A (en) | 2019-03-29 | 2019-03-29 | A kind of cavern substance Prospecting vehicle and its surveying method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910251073.0A CN109975061A (en) | 2019-03-29 | 2019-03-29 | A kind of cavern substance Prospecting vehicle and its surveying method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109975061A true CN109975061A (en) | 2019-07-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910251073.0A Withdrawn CN109975061A (en) | 2019-03-29 | 2019-03-29 | A kind of cavern substance Prospecting vehicle and its surveying method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110001816A (en) * | 2019-04-19 | 2019-07-12 | 南京涵铭置智能科技有限公司 | A kind of patch ground walking Prospecting vehicle and its patch ground method |
| CN113147916A (en) * | 2021-06-04 | 2021-07-23 | 河南科技学院 | Mountain transport vehicle |
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2019
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110001816A (en) * | 2019-04-19 | 2019-07-12 | 南京涵铭置智能科技有限公司 | A kind of patch ground walking Prospecting vehicle and its patch ground method |
| CN113147916A (en) * | 2021-06-04 | 2021-07-23 | 河南科技学院 | Mountain transport vehicle |
| CN113147916B (en) * | 2021-06-04 | 2024-03-26 | 河南科技学院 | Mountain transport vechicle |
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Application publication date: 20190705 |