CN207858814U - A kind of mobile platform with grabbing device - Google Patents

Abstract

This application discloses a kind of mobile platforms with grabbing device, including the grabbing device being arranged on platform body, grabbing device includes the manipulator being arranged on platform body and the handgrip in manipulator actuating station is arranged, manipulator includes handgrip mounting plate, and it is installation position to be additionally provided on handgrip mounting plate multiple.The application accomplishes to launch repeater when capable of carrying out remote inspection, realizes that distant signal is stablized and transmit.

Description

A kind of mobile platform with grabbing device

Technical field

This application involves autonomous inspection technical field more particularly to a kind of mobile platforms with grabbing device.

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.

Utility model content

The application technical problems to be solved are to provide a kind of mobile platform with grabbing device, by the way that crawl dress is arranged It sets to accomplish to launch repeater when carrying out remote inspection, realizes that distant signal stablizes transmission, improve the suitable of the application Use range.

In order to solve the above-mentioned technical problem, this application provides a kind of mobile platforms with grabbing device, including platform Ontology and the grabbing device being arranged on the platform body, the grabbing device includes the machine being arranged on the platform body Tool hand and the handgrip in the manipulator actuating station is set, the manipulator includes the connect that rotate with the platform body One driving device, is placed in institute at the mounting base for the second driving device connecting that rotates with the output end of the first driving means State the second driving device in the second driving device mounting base, rotate connect with the output end of second driving device One mounting base, one end are set to first connecting rod on the side wall of first mounting base, set on the of the first connecting rod other end Two mounting bases, the third driving device being placed in second mounting base, one end are filled by a transfer block and third driving The output shaft set rotate connection second connecting rod, be fixedly connected with the other end of the second connecting rod third mounting base, set Pacify in the four-drive device in the third mounting base, the handgrip connecting that rotates with the output shaft of the four-drive device Loading board, the lifting cylinder on the handgrip mounting plate, the handgrip are set to the actuating station of the lifting cylinder, the installation It is installation position to be additionally provided on plate multiple.

Further, the rotation axis of the first driving means is vertically arranged, the rotary shaft of second driving device The perpendicular setting of rotation axis of line and the first driving means, the rotation axis of the third driving device and described second The parallel laying of rotation axis of driving device.

Further, further include first control device, the first control device respectively with the first driving means, institute State the second driving device, the third driving device, the four-drive device and lifting cylinder electrical connection.

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 vision inspection apparatus is camera.

Further, the first driving means are first servo motor, second driving device is the second servo electricity Machine, the third driving device are third servo motor, the four-drive device is the 4th servo motor.

Further, it is additionally provided with repeater Storage Box on the platform body, is equipped in the repeater Storage Box multiple Repeater, the repeater are connect with the first control device signal.

Further, integrated elastic beam, the integrated elastic beam are equipped in the repeater Storage Box Including multiple cut sections, each cut section places a repeater, and the bore of the cut section is slightly less than the repeater shape Size.

The advantageous effect of the application is：

By the way that grabbing device and repeater is arranged, realizing can be relayed the application in traveling larger distance by launching Device achieves long haul communication, and the application can realize comprehensive spy by the way that the first gamma detector is arranged on a robotic arm It surveys.

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 be handgrip, 1410 be the first installation position, 1411 be the second installation position, 1412 be third mounting base, 16 be the first control dress It sets, 17 be second control device, 18 be router, 19 be the ends PC, 20 be motor driver, 22 be analog line driver, 24 be wind Fan, 26 be ice chest, 28 be repeater Storage Box, 30 be interconnecting piece, 32 be anticollision portion, 34 be netted mounting plate, 36 be the first control Panel processed, 38 be the second control panel, 40 be antenna, 42 be depth camera, 44 be infrared camera, 46 be supporting rack, 48 be Tower button, 50 are shells.

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 mobile platform with grabbing device described in one preferred embodiment of this explanation, including Platform body 1 and the chassis 2 being arranged on the platform body 1, the downside on chassis 2 are equipped with battery case 4, in the battery case 4 Installing zone equipped with 16 for installing battery.Facilitate the front end of platform body as defined in the application for normal driving to describe The rear end in headstock portion, platform body is the tailstock portion normally to drive a vehicle, in order to keep design structure more compact, integrally seems letter Clean beauty, preferably chassis 2 are equipped with the first installation region 6, the second installation region 8 and third peace successively along the direction of front end to rear end Region 10 is filled, elevating mechanism 12 and the grabbing device above the elevating mechanism 12 are equipped in the first installation region 6 14, the second installation region is equipped with first control device 16, the router 18, multiple being arranged above the first control device 16 Motor driver 20 and multiple analog line drivers 22 are equipped with second control device 17 in third installation region and are arranged described The ends PC 19 of the downside of second control device 17 are additionally provided with radiator on the chassis 2, and preferably radiator includes being set to institute State the fan 24 between the second installation region and the third installation region and the ice chest set on the second control device both sides 26。

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, bar of the sunpender 1203 between the detection device and the pressing plate 1201 It is arranged with compression spring 1204 in section, the upper end of the compression spring 1204 supports the lower surface of the pressing plate 1201, the compression spring 1204 Lower end supports the upper surface of the detection device, and preferred detecting unit includes surface contamination detector 1205 and is set to the surface The lower end of first gamma detector 1206 of 1205 side of pollution detection device, the compression spring 1204 supports the surface contamination detection The upper surface of device 1205.Mounting plate in the second installation region 8 is equipped with the 5th driving device, preferably the 5th driving device Output end for brushless motor, the 5th driving device is connect with one end of a transmission device, the transmission device it is another 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 the silk The output end of thick stick 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 be arranged on the mounting plate 1202 the second synchronous pulley 1208, third synchronous pulley 1209 (be not shown in figure, Third synchronous pulley 1209 and the second synchronous pulley 1208 are oppositely arranged) and be arranged in second synchronous pulley 1208 and institute The 4th synchronous pulley 1210 between third synchronous pulley 1209 is stated, the conveyer belt of the transmission device sequentially passes through described One synchronous pulley 1207, the second synchronous pulley 1208, the 4th synchronous pulley 1210 and third synchronous pulley 1209, the preferably the 4th Synchronous pulley 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 shape that the mobile platform with grabbing device of the application further includes a bottom and the chassis is mutually fitted The shell matched, the lateral surface for being located at the shell of platform body front end are equipped with a netted mounting plate 34, are located at platform body rear end The lateral surface of shell is equipped with the first control panel 36, the second control panel 38 and the antenna 40 for receiving signal, described netted Mounting plate 34 is equipped with multiple vision collecting devices, lighting device and obstacle detector, and preferably vision inspection apparatus includes Two, respectively infrared camera 44 and depth camera 42, preferably obstacle detector are by mounting base set on described netted Laser radar on mounting plate, the rear end of platform body be equipped with the first control panel for being electrically connected with first control device and with Second control panel of second control device electrical connection includes multiple USB interfaces, emergency stop switch and net on the first control panel Hole includes the general aviation socket of multiple USB interfaces and detector on the second control panel.First control device respectively with it is described Repeater, the manipulator, the motor driver, the analog line driver electrical connection, the second control device respectively with The router, the vision collecting device, the obstacle detector, antenna electrical connection, the first control dress It sets and is electrically connected with the second control device, 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 mobile platform with grabbing device of the application further includes upper cover, the upper cover and the shell 50 It is connected by multiple tower buttons 48.

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 mobile platform with grabbing device of the application is placed in region to be maked an inspection tour, mobile station starts autonomous operation, First control device controls mobile station and advances, while vision collecting device and obstacle detector in mobile station front end is arranged Start to be scanned the travel zone of mobile station, collected path data is then sent to second control device and then deposits The ends PC are stored in, second control device is sent to first control device according to the path data of acquisition, and first control device is according to The traveling of the signal control mobile station of two control devices, the manipulator on the upside of elevating mechanism start to move around above, make The second gamma detector on the second installation position starts to detect, when running to a position to be detected, the first control Device controls the driving screw pair rotation of the 5th driving device while driving the pressing plate downlink band being mounted on screw pair It moves surface contamination detector and the second gamma detector downlink mounted on surface contamination detector side contacts ground, be compression spring Under the action of press ground to be detected and proceed by detection, the result of detection, which is then sent to second control device, is stored in The ends PC, when running stroke farther out, signal can be more and more weaker, after detecting signal weaker, first control device control Handgrip on manipulator processed starts to extend into crawl repeater at repeater Storage Box under the auxiliary of camera and is launched, mobile Platform continues on after writing down placement position, and when detection terminates to need return, the ends PC are according to the position of the repeater of dispensing Plan the route of backhaul, first control device then sent the signal to by second control device, first control device according to The path signal of reception is open to traffic, and after running to original release position, handgrip starts to collect the repeater placement launched before In repeater Storage Box, then proceed 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 (8)

1. a kind of mobile platform with grabbing device, which is characterized in that including platform body and be arranged in the platform body On grabbing device, the grabbing device includes that the manipulator that is arranged on the platform body and setting are held in the manipulator The handgrip at row end, the manipulator include with the platform body rotate the first driving means connecting, with it is described first drive The output end of dynamic device rotate connection the second driving device mounting base, be placed in the second driving device mounting base Second driving device, the first mounting base connecting that rotates with the output end of second driving device, one end are set to described the First connecting rod on the side wall of one mounting base, set on the first connecting rod other end the second mounting base, be placed in second peace Third driving device, one end in dress seat are rotated by a transfer block with the output shaft of the third driving device the connect Two connecting rods, the third mounting base being fixedly connected with the other end of the second connecting rod, the in the third mounting base the 4th Driving device, is set to the handgrip mounting plate at the handgrip mounting plate connecting that rotates with the output shaft of the four-drive device On lifting cylinder, the handgrip is set to the actuating station of the lifting cylinder, and it is peace to be additionally provided on the handgrip mounting plate multiple Fill position.

2. the mobile platform according to claim 1 with grabbing device, which is characterized in that the first driving means Rotation axis is vertically arranged, and the rotation axis and the rotation axis of the first driving means of second driving device are perpendicular Setting, the laying parallel with the rotation axis of the second driving device of the rotation axis of the third driving device.

3. the mobile platform according to claim 1 with grabbing device, which is characterized in that further include the first control dress Set, the first control device respectively with the first driving means, second driving device, the third driving device, The four-drive device and lifting cylinder electrical connection.

4. the mobile platform according to claim 3 with grabbing device, which is characterized in that there are two the installation positions, Two installation positions are respectively the first installation position and the second installation position, and first installation position is equipped with multiple vision inspection apparatus, Second installation position is equipped with the second gamma detector.

5. the mobile platform according to claim 4 with grabbing device, which is characterized in that the vision inspection apparatus is Camera.

6. the mobile platform according to claim 1 with grabbing device, which is characterized in that the first driving means are First servo motor, second driving device are the second servo motor, the third driving device is third servo motor, institute It is the 4th servo motor to state four-drive device.

7. the mobile platform according to claim 3 with grabbing device, which is characterized in that also set on the platform body There is repeater Storage Box, multiple repeaters, the repeater and the first control device are equipped in the repeater Storage Box Signal connects.

8. the mobile platform according to claim 7 with grabbing device, which is characterized in that in the repeater Storage Box Equipped with integrated elastic beam, the integrated elastic beam includes multiple cut sections, and each cut section is placed in one Bore after device, the cut section is slightly less than the repeater appearance and size.