CN206426084U - A kind of three-shaft wheeled interior spherical nuclear environment crusing robot of driving - Google Patents
A kind of three-shaft wheeled interior spherical nuclear environment crusing robot of driving Download PDFInfo
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- CN206426084U CN206426084U CN201720118505.7U CN201720118505U CN206426084U CN 206426084 U CN206426084 U CN 206426084U CN 201720118505 U CN201720118505 U CN 201720118505U CN 206426084 U CN206426084 U CN 206426084U
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- 206010018325 Congenital glaucomas Diseases 0.000 claims abstract description 8
- 206010012565 Developmental glaucoma Diseases 0.000 claims abstract description 8
- 208000007157 Hydrophthalmos Diseases 0.000 claims abstract description 8
- 201000001024 buphthalmos Diseases 0.000 claims abstract description 8
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 3
- 229910052744 lithium Inorganic materials 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 abstract description 6
- 238000013461 design Methods 0.000 abstract description 5
- 230000007613 environmental effect Effects 0.000 abstract description 3
- 238000010276 construction Methods 0.000 abstract description 2
- 238000011161 development Methods 0.000 description 4
- 230000018109 developmental process Effects 0.000 description 4
- 230000005855 radiation Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- 230000009184 walking Effects 0.000 description 2
- 241000592274 Polypodium vulgare Species 0.000 description 1
- 241000209140 Triticum Species 0.000 description 1
- 235000021307 Triticum Nutrition 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 238000005202 decontamination Methods 0.000 description 1
- 230000003588 decontaminative effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000002285 radioactive effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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Abstract
The utility model discloses the spherical nuclear environment crusing robot of the three-shaft wheeled interior driving of one kind, solve prior art move that not nimble, sport efficiency is low and monitoring capability by environmental facility limitation it is big the problems such as；Including spherical housing, and detector carriage, detector, circuit module, supporting plate, battery compartment and the drive device being each provided in spherical housing；Detector carriage is provided with buphthalmos wheel, buphthalmos wheel and spherical housing inwall sliding contact, battery compartment has two and is symmetrically fixed on both sides below supporting plate, battery compartment is located at spherical housing bottom, drive device has three and is distributed in same level, three drive devices are connected by three drive rods mutually at an angle of 90 with supporting plate respectively, each drive device with spherical housing inwall sliding contact, battery pack is equipped with each battery compartment, battery pack is electrically connected with detector, circuit module and drive device respectively.The utility model is simple in construction, design science is reasonable.
Description
Technical field
The utility model is related to a kind of three-shaft wheeled interior spherical nuclear environment crusing robot of driving.
Background technology
The development experience of China's nuclear power " starting ", " optimum development " stage, currently to " actively development " transformation, core with
Radiation safety supervision is basis and the premise of nuclear safety.Historical nuclear accident big several times causes great to the development of nuclear power
Influence, Nuclear Safety turns into the focus of global concern.Therefore strict monitoring and maintenance must be carried out to nuclear facilities, in time hair
Now and change aging, faulty equipment, and the processing such as decontamination and dismounting is carried out to discarded nuclear device, to ensure that nuclear power station is normal, peace
Run entirely.These operations need to carry out under radioactive environment, if staff is directly entered inside nuclear facilities to equipment
The operation such as repaired, checked, undoubtedly can by substantial amounts of radiation, seriously be likely to result in personnel casualty accidentses；In addition, it is necessary to
Monitoring and the equipment safeguarded are various, operating environment is complicated, narrow space, some places or the not accessibility region of people.Therefore,
Replace people to enter nuclear power station using robot to carry out daily monitoring and maintenance work, have broad application prospects.
At present, many countries have succeeded in developing the nuclear industrial robot of far distance controlled.Most of nuclear industrial robots are adopted
It is wheel or crawler belt, or the walking manner that wheel and crawler belt are combined, a small number of robots are using polypody or two foot walkings
Mode.Such humanoid robot has that plane motion capabilities are strong, controllability is higher, the advantages of load-carrying is larger, at the same time, such machine
Device people has that manufacturing cost is high, build is big, motion loss is big, by landform limitation it is high the shortcomings of.Therefore, a volume is designed
Small, light weight, the nimble, sport efficiency of motion are high and monitoring capability is limited to small nuclear environment crusing robot by environmental facility
As technical field technical staff's urgent problem to be solved.
Utility model content
The technical problems to be solved in the utility model is：A kind of three-shaft wheeled interior spherical nuclear environment inspection machine of driving is provided
People, the robot move that nimble, sport efficiency is high and monitoring capability by environmental facility limitation it is small the characteristics of.
To achieve the above object, the technical solution adopted in the utility model is as follows：
A kind of three-shaft wheeled interior spherical nuclear environment crusing robot of driving, including spherical housing, and be each provided at spherical outer
Detector carriage, detector, circuit module, supporting plate, battery compartment and the driving dress being fixedly connected sequentially in shell and from top to bottom
Put；The detector carriage be provided with buphthalmos wheel, the buphthalmos wheel upward and with spherical housing inwall sliding contact, the battery
Storehouse has two and is symmetrically fixed on both sides below supporting plate, and the battery compartment is located at spherical housing bottom, and the drive device has
Three and it is distributed in same level, line of three drive devices in same level constitutes an equilateral triangle
Shape, three drive devices are connected by three drive rods mutually at an angle of 90 with supporting plate respectively, each described driving dress
Put with spherical housing inwall sliding contact, be equipped with battery pack in each battery compartment, the battery pack respectively with detection
Device, circuit module and drive device electrical connection.
Further, the circuit module includes data acquisition chip, the main control circuit positioned at middle level positioned at upper strata
Chip and the battery management chip and motor drive ic positioned at lower floor, the main control circuit chip and data acquisition core
Piece serial communication is connected, and the main control circuit chip is connect with battery management chip and motor drive ic by I/O respectively
Mouth connection, data acquisition chip and the main control circuit chip is electrically connected by voltage module with battery pack, the battery
Managing chip and motor drive ic are electrically connected with battery pack；The motor drive ic is connected with drive device signal, institute
Data acquisition chip is stated to be connected with detector (2) signal.
Further, the drive device is including the Mecanum wheel with spherical housing inwall sliding contact and is fixed on wheat
Ke Namu wheels inner side is used for the motor for driving Mecanum wheel to move, and the motor is electrically connected with battery pack, described
Motor is connected with motor drive ic signal.
Further, the detector includes integrated CZT detector and IMU inertial navigation systems, the integrated CZT detections
Device is electrically connected by voltage module with battery pack, and the integrated CZT detector is communicated with data acquisition chip by serial interface
Connection, the IMU inertial navigation systems are communicated to connect with data acquisition chip by SPI interface.
Further, the model STM32F407 of the main control circuit chip, the model of the data acquisition chip
Altera Cyclone II, the model ULN2003a of the motor drive ic, the model of the battery management chip
BQ27x00。
Further, the IMU inertial navigation systems are model ST LSM9DS0 chip.
Further, the battery pack is 18650 type lithium batteries.
Further, the voltage module is 12V-5V voltage modules.
Compared with prior art, the utility model has the advantages that：
(1) the utility model is simple in construction, design science is reasonable.
(2) the utility model by two battery compartments by being symmetrically arranged at below supporting plate both sides and under spherical housing
Portion, reduces the position of centre of gravity of whole ball shape robot as much as possible within the specific limits, so as to reduce rotary inertia, makes this
The sport efficiency of utility model and sensitivity are greatly improved；It is driven using the wheeled interior driving method of triple axle,
And driving wheel use Mecanum wheel, improve the sport efficiency of sphere shell, thus realize robot omni-directional, it is low
The motion of energy consumption；The utility model spherical housing size is small, light weight, moves nimble, sport efficiency height, designs simple science,
Simple operation, when using can also the region that can not reach of deep enough many mankind and large-scale crusing robot, by nuclear radiation environment
Facility constraints are small, usage range of the present utility model is greatly expanded.
Brief description of the drawings
Fig. 1 is the utility model structural representation.
Fig. 2 is the utility model top view.
Wherein, reference is corresponding entitled：
1- motors, 2- detectors, 3- spherical housings, 4- detector carriages, 5- circuit modules, 6- supporting plates, 7- electricity
Chi Cang, 8- Mecanum wheel.
Embodiment
The utility model is described in further detail with embodiment for explanation below in conjunction with the accompanying drawings, and mode of the present utility model includes
But it is not limited only to following examples.
Embodiment
As illustrated in fig. 1 and 2, a kind of three-shaft wheeled interior spherical nuclear environment crusing robot of driving, including spherical housing 3, with
And it is each provided at the detector carriage 4 being fixedly connected sequentially in spherical housing 3 and from top to bottom, detector 2, circuit module 5, support
Plate 6, battery compartment 7 and drive device；The detector carriage 4 be provided with buphthalmos wheel, the buphthalmos wheel upward and with spherical housing 3
Wall sliding contact, the battery compartment 7 has two and is symmetrically fixed on the both sides below of supporting plate 6, and the battery compartment 7 is located at spherical outer
The bottom of shell 3.
The drive device has three and is distributed in same level, and three drive devices are in same level
Line constitute an equilateral triangle, three drive devices pass through three mutually drive rods at an angle of 90 and supports respectively
Plate 6 is connected, and the drive device is including the Mecanum wheel 8 with the inwall sliding contact of spherical housing 3 and is fixed on Mecanum
The inner side of wheel 8 is used for the motor 1 for driving Mecanum wheel 8 to move.
The circuit module 5 include positioned at the data acquisition chip on upper strata, the main control circuit chip positioned at middle level and
Positioned at the battery management chip and motor drive ic of lower floor, the main control circuit chip and data acquisition chip serial communication
Connection, the main control circuit chip is connected with battery management chip and motor drive ic by I/O interfaces respectively, described
Motor drive ic is connected with the signal of motor 1.
The detector 2 includes integrated CZT detector and IMU inertial navigation systems, the integrated CZT detector and data
Acquisition chip is communicated to connect by serial interface, and the IMU inertial navigation systems are communicated with data acquisition chip by SPI interface
Connection.
Battery pack, the integrated CZT detector, data acquisition chip and main control are equipped with each battery compartment 7
Circuit chip is electrically connected by voltage module with battery pack, and the battery management chip and motor drive ic are and battery pack
Electrical connection, the motor 1 is electrically connected with battery pack.
The model STM32F407 of the main control circuit chip, the model Altera of the data acquisition chip
Cyclone II, the model ULN2003a of the motor drive ic, the model BQ27x00 of the battery management chip,
The IMU inertial navigation systems are model ST LSM9DS0 chip, and the battery pack is 18650 type lithium batteries, the electricity
Die block is 12V-5V voltage modules.
The utility model by the way that two battery compartments are symmetrically arranged at below supporting plate into both sides and positioned at spherical housing bottom,
The position of centre of gravity of whole ball shape robot is reduced in certain limit as much as possible, so as to reduce rotary inertia, makes this practicality
New sport efficiency and sensitivity is greatly improved；It is driven using the wheeled interior driving method of triple axle, and
Driving wheel uses Mecanum wheel, the sport efficiency of sphere shell is improved, so as to realize robot omni-directional, low energy consumption
Motion；The utility model spherical housing size is small, light weight, moves nimble, sport efficiency height, designs simple science, operation
It is convenient, when using can also the region that can not reach of deep enough many mankind and large-scale crusing robot, by nuclear radiation environment facility
Limitation is small, usage range of the present utility model is greatly expanded.Suitable for extensive in nuclear environment crusing robot field
Popularization and application.
Above-described embodiment is only one of preferred embodiment of the present utility model, be should not be taken to limit of the present utility model
Protection domain, as long as body design thought of the present utility model and mentally make have no the change of essential meaning or profit
Color, the technical problem that it is solved is still consistent with the utility model, should be included in protection domain of the present utility model
Within.
Claims (8)
1. a kind of three-shaft wheeled interior spherical nuclear environment crusing robot of driving, it is characterised in that：Including spherical housing (3), and
It is each provided at the detector carriage (4) being fixedly connected sequentially in spherical housing (3) and from top to bottom, detector (2), circuit module
(5), supporting plate (6), battery compartment (7) and drive device；The detector carriage (4) is provided with buphthalmos wheel, the buphthalmos wheel court
It is upper and with spherical housing (3) inwall sliding contact, the battery compartment (7) has two and is symmetrically fixed on supporting plate (6) below two
Side, the battery compartment (7) is located at spherical housing (3) bottom, and the drive device has three and is distributed in same level, institute
State line of three drive devices in same level and constitute an equilateral triangle, three drive devices pass through respectively
Three drive rods mutually at an angle of 90 are connected with supporting plate (6), and each described drive device is slided with spherical housing (3) inwall
Be equipped with battery pack in dynamic contact, each battery compartment (7), the battery pack respectively with detector (2), circuit module (5)
With drive device electrical connection.
2. the three-shaft wheeled interior spherical nuclear environment crusing robot of driving of one kind according to claim 1, it is characterised in that：Institute
Stating circuit module (5) includes the data acquisition chip positioned at upper strata, the main control circuit chip positioned at middle level and positioned at lower floor
Battery management chip and motor drive ic, the main control circuit chip is connected with data acquisition chip serial communication, institute
State main control circuit chip to be connected by I/O interfaces with battery management chip and motor drive ic respectively, the data are adopted
Collection chip and main control circuit chip are electrically connected by voltage module with battery pack, battery management chip and the motor driving
Chip is electrically connected with battery pack；The motor drive ic is connected with drive device signal, and the data acquisition chip is with visiting
Survey the connection of device (2) signal.
3. the three-shaft wheeled interior spherical nuclear environment crusing robot of driving of one kind according to claim 2, it is characterised in that：Institute
Drive device is stated including the Mecanum wheel (8) with spherical housing (3) inwall sliding contact and is fixed in Mecanum wheel (8)
Side is used for the motor (1) for driving Mecanum wheel (8) to move, and the motor (1) electrically connects with battery pack, described to drive
Dynamic motor (1) is connected with motor drive ic signal.
4. the three-shaft wheeled interior spherical nuclear environment crusing robot of driving of one kind according to claim 3, it is characterised in that：Institute
Detector (2) is stated including integrated CZT detector and IMU inertial navigation systems, the integrated CZT detector by voltage module with
Battery pack is electrically connected, and the integrated CZT detector is communicated to connect with data acquisition chip by serial interface, the IMU inertia
Navigation system is communicated to connect with data acquisition chip by SPI interface.
5. the three-shaft wheeled interior spherical nuclear environment crusing robot of driving of one kind according to claim 4, it is characterised in that：Institute
The model STM32F407 of main control circuit chip, the model Altera Cyclone II of the data acquisition chip are stated,
The model ULN2003a of the motor drive ic, the model BQ27x00 of the battery management chip.
6. the three-shaft wheeled interior spherical nuclear environment crusing robot of driving of one kind according to claim 5, it is characterised in that：Institute
State the chip that IMU inertial navigation systems are model ST LSM9DS0.
7. the three-shaft wheeled interior spherical nuclear environment crusing robot of driving of one kind according to claim 6, it is characterised in that：Institute
Battery pack is stated for 18650 type lithium batteries.
8. the three-shaft wheeled interior spherical nuclear environment crusing robot of driving of one kind according to claim 7, it is characterised in that：Institute
Voltage module is stated for 12V-5V voltage modules.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720118505.7U CN206426084U (en) | 2017-02-09 | 2017-02-09 | A kind of three-shaft wheeled interior spherical nuclear environment crusing robot of driving |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720118505.7U CN206426084U (en) | 2017-02-09 | 2017-02-09 | A kind of three-shaft wheeled interior spherical nuclear environment crusing robot of driving |
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| CN206426084U true CN206426084U (en) | 2017-08-22 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110307952A (en) * | 2019-07-02 | 2019-10-08 | 北京航空航天大学 | Dirigible surface based on linear CCD sensor attaches detection robot |
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2017
- 2017-02-09 CN CN201720118505.7U patent/CN206426084U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110307952A (en) * | 2019-07-02 | 2019-10-08 | 北京航空航天大学 | Dirigible surface based on linear CCD sensor attaches detection robot |
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| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20240507 Address after: Three road 610051 Sichuan city of Chengdu Province, No. 1 East Patentee after: Chengdu University of Technology Country or region after: China Patentee after: Southwest University of Science and Technology Address before: 621010, No. 59, Qinglong Avenue, Fucheng District, Sichuan, Mianyang Patentee before: Southwest University of Science and Technology Country or region before: China |