CN207858811U - A kind of autonomous platform - Google Patents

Abstract

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

Description

A kind of autonomous platform

Technical field

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

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 The industry spot for having some bad environments, in order to keep the safety in production, the exploration of industry spot is particularly important, in actual industry Under scene and rugged environment, testing staff can not be directly entered scene and complete measurement task.And into in-site measurement When can cause jitter because of advance relatively remote of scene and can not effectively complete autonomous operation, city at present Occurs the intelligent carriage of entirely autonomous movement on field not yet, and structure is more complex mostly.

Apply for content

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

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

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

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

Further, it is located at the mounting plate in the second installation region and is equipped with the 5th driving device, the 5th driving dress The output end set is connect with one end of a transmission device, and the input terminal of the other end of the transmission device and a screw pair connects It connects, the pressing plate is connect with the output end of the screw pair, and drives opposite institute by the output end of the screw pair The upper surface for stating chassis pumps.

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

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

Further, further include the anticollision mechanism for being respectively arranged on the platform body front and rear end, the anticollision mechanism Including the interconnecting piece that an anticollision portion and two are mutually parallel, one end of two interconnecting pieces is removable by a connection piece and the chassis The formula of unloading is fixedly connected, and the both ends in the anticollision portion are connect with the other end of two interconnecting pieces respectively.

Further, further include bottom shell compatible with the shape on the chassis, the shell, which is equipped with, to be relayed Device Storage Box, the repeater Storage Box is interior to be equipped with multiple repeaters, and the lateral surface positioned at the shell of platform body front end is equipped with One netted mounting plate, the lateral surface for being located at the shell of platform body rear end are equipped with the first control panel, the second control panel and day Line, the netted mounting plate are equipped with multiple vision collecting devices, lighting device and obstacle detector, the platform body Rear end be equipped with the first control panel of first control device electrical connection and be electrically connected with the second control device the Two control panels, the first control device respectively with the repeater, the manipulator, the motor driver, the work( Rate driver be electrically connected, the second control device respectively with the router, the vision collecting device, the obstacle quality testing Device, antenna electrical connection are surveyed, the first control device is electrically connected with the second control device.

Further, the thickness on the chassis is 4mm-10mm, and it is 1mm-3mm's that the upper surface on the chassis, which is equipped with thickness, The downside of stereotype, the chassis is equipped with battery case, and multiple installing zones for installing battery are equipped in the battery case.

Further, further include a upper cover, the upper cover is connect with the shell by multiple tower buttons

The advantageous effect of the application is：

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

2) the application realizes that the control system division of labor is clear, effectively by the way that first control device and second control device is arranged The time for saving control feedback, accomplish summary responses；

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

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

5) the application can be with the detachable fixation of platform body by being respectively set in the front and rear end of platform body The anticollision mechanism of connection, and tray of the setting with cambered surface 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；

6) the application realizes safety by the way that vision collecting device, obstacle detector in platform body front end is arranged Avoidance.

Above description is only the general introduction of technical solution of the present invention, in order to better understand the technical means of the present invention, And can be implemented in accordance with the contents of the specification, below with presently preferred embodiments of the present invention and after coordinating attached drawing to be described in detail such as.

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 mounting 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 third 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 sets, 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 mounting plate, 1408 be lifting cylinder, 1409 It is handgrip, 1410 be the first installation position, 1411 be the second installation position, 1412 be third mounting base, 16 is first control device, 17 It is second control device, 18 be router, 19 be the ends PC, 20 be motor driver, 22 be analog line driver, 24 is fan, 26 It is ice chest, 28 be repeater Storage Box, 30 be interconnecting piece, 32 be anticollision portion, 34 be netted mounting 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 shell.

Specific implementation mode

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 autonomous platform described in one preferred embodiment of this explanation, including platform body 1 and set The chassis 2 on the platform body 1 is set, the downside on chassis 2 is equipped with battery case 4,16 are equipped in the battery case 4 for pacifying The installing zone of packed battery.Facilitate the front end of platform body as defined in the application for normal driving headstock portion, platform sheet to describe The rear end of body is that the tailstock portion normally to drive a vehicle integrally seems simple and beautiful, preferably bottom to keep design structure more compact Disk 2 is equipped with the first installation region 6, the second installation region 8 and third installation region 10 successively along the direction of front end to rear end, the It is equipped with elevating mechanism 12 and the grabbing device 14 above the elevating mechanism 12, the second installation region in one installation region 6 Equipped with first control device 16, the router being arranged above the first control device 16 18, multiple motor drivers 20 with And multiple analog line drivers 22, it is equipped with second control device 17 in third installation region and is arranged in the second control device 17 The ends PC 19 of downside, are additionally provided with radiator on the chassis 2, preferably radiator include be set to second installation region with Fan 24 between the third installation region and the ice chest 26 set 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 the lift side in elevating mechanism, elevating mechanism include one can the relatively described chassis upper surface relative motion pressure Plate 1201, the upside of the pressing plate 1201 are equipped with a mounting plate 1202 with lug, at the lug of the mounting 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 mounting 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, the lower end of the sunpender 1203 be set to the elevating mechanism The detection device of 12 lift side connects, 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 dirty set on the surface The first gamma detector 1206 of 1205 side of detector is contaminated, the lower end of the compression spring 1204 supports the surface contamination detector 1205 upper surface.Mounting plate in the second installation region 8 is equipped with the 5th driving device, and preferably the 5th driving device is The output end of brushless motor, the 5th driving device is connect with one end of a transmission device, the other end of the transmission device It is connect with the input terminal of a screw pair, the pressing plate is connect with the output end of the screw pair, and by the leading screw The output end of pair of nut drives the upper surface on the relatively described chassis to pump.

Specifically, the transmission device includes the first synchronous pulley being connect with the output end of the 5th driving device 1207 and the second synchronous pulley 1208, the third synchronous pulley 1209 that are arranged on the mounting plate 1202 (be not shown in figure, the Three synchronous pulleys 1209 are oppositely arranged with the second synchronous pulley 1208) and setting second synchronous pulley 1208 with it is described The conveyer belt of the 4th synchronous pulley 1210 between third synchronous pulley 1209, the transmission device sequentially passes through described first together Walk belt wheel 1207, the second synchronous pulley 1208, the 4th synchronous pulley 1210 and third 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 connect with the chassis, the sliding block of first screw pair is connect with the pressing plate, the silk of second screw pair The upper end of thick stick and the third 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 connect with the pressing plate.

It is be respectively placed in mounting plate corner location four to be preferably directed mechanism, and each guiding mechanism includes that connection is installed 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 along the guide post with the moving up and down for linear bearing.

Wherein, grabbing device 14 includes the manipulator being arranged on platform body and is arranged in the manipulator actuating station Handgrip, wherein manipulator includes rotating the first driving means connecting, accommodating first driving means with the platform body First driving means mounting base 1401, rotate the second driving device installation connecting with the output end 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 set on the side wall of first mounting base 1403 1404, set on the second mounting base 1405 of 1404 other end of the first connecting rod, be placed in second mounting base 1405 Three driving devices, one end are rotated the second connecting rod connecting by a transfer block and the output shaft of the third driving device 1406, the third mounting base 1412 that is fixedly connected with the other end of the second connecting rod 1406 is set in the third mounting base Four-drive device, the handgrip mounting plate 1407 connecting that rotates with the output shaft of the four-drive device, be set to it is described Lifting cylinder 1408 on handgrip mounting plate, the handgrip 1409 is set to the actuating station of the lifting cylinder, on the mounting plate It is installation position to be additionally provided with multiple, in order to realize that comprehensive scanning surrounding, the preferably described first driving means may be implemented in handgrip 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 Straight setting, the laying parallel with the rotation axis of the second driving device of the rotation axis of the third 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, the first installation position peace 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 connect with the first control device signal, and handgrip is for launching repeater It is advancing on the way.

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

In order to enable the mobile station of the application freely to advance under rugged environment, preferably in platform body front end with after Anticollision mechanism is respectively set in end, and in order to realize anticollision, artificial lift to move, machinery lifting integration, preferably anticollision mechanism includes one anti- The interconnecting piece 30 that portion 32 and two is mutually parallel is hit, one end of two interconnecting pieces 30 is detachable by a connection piece and the chassis Formula is fixedly connected, and the both ends in the anticollision portion are connect with the other end of two interconnecting pieces respectively, and the lateral wall of anticollision mechanism, which is equipped with, to be delayed Layer is rushed, the downside for being located at the buffer layer in anticollision portion is equipped with multiple trays with cambered surface.

Specifically, the autonomous platform of the application further includes bottom shell compatible with the shape on the chassis, position It is equipped with a netted mounting plate 34 in the lateral surface of the shell of platform body front end, is located at the lateral surface of the shell of platform body rear end Equipped with the first control panel 36, the second control panel 38 and antenna 40 for receiving signal, set on the netted mounting plate 34 There are multiple vision collecting devices, lighting device and obstacle detector, preferably vision inspection apparatus includes two, respectively red Outer camera 44 and depth camera 42, preferably obstacle detector are the laser being set to by mounting base on the netted mounting plate Radar, the rear end of platform body be equipped with the first control panel for be electrically connected with first control device and with second control device it is electric Second control panel of connection includes multiple USB interfaces, emergency stop switch and mesh, the second control panel on the first control panel Upper includes the general aviation socket of 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 are controlled with described second Device is electrically connected, and first control device is also electrically connected with the ends PC.

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

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

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

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

Operation principle：

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

Embodiment described above is only the preferred embodiment lifted to absolutely prove the application, the protection model of the application It encloses without being limited thereto.Those skilled in the art on the basis of the application made by equivalent substitute or transformation, in the application Protection domain within.The protection domain of the application is subject to claims.

Claims (10)

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

2. autonomous platform according to claim 1, which is characterized in that the radiator includes being set to described second to pacify Fill the fan between region and the third installation region and the ice chest set on the second control device both sides.

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

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

5. autonomous platform according to claim 3, which is characterized in that the detection device includes surface contamination detector The surface contamination detection is supported with the lower end of the first gamma detector set on surface contamination detector side, the compression spring The upper surface of device.

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

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

8. autonomous platform according to claim 6, which is characterized in that further include the shape phase of a bottom and the chassis The shell of adaptation, the shell are equipped with repeater Storage Box, multiple repeaters are equipped in the repeater Storage Box, be located at flat The lateral surface of the shell of playscript with stage directions body front end is equipped with a netted mounting plate, and the lateral surface for being located at the shell of platform body rear end is equipped with the One control panel, the second control panel and antenna, the netted mounting plate be equipped with multiple vision collecting devices, lighting device and Obstacle detector, the rear end of the platform body be equipped with first control device electrical connection the first control panel and with Second control panel of second control device electrical connection, the first control device respectively with the repeater, the machine Tool hand, the motor driver, the analog line driver electrical connection, the second control device respectively with the router, institute Vision collecting device, the obstacle detector, antenna electrical connection are stated, the first control device is controlled with described second Device electrical connection processed.

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

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