CN207858818U - Integral type anticollision mobile station - Google Patents
Integral type anticollision mobile station Download PDFInfo
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- CN207858818U CN207858818U CN201721842907.8U CN201721842907U CN207858818U CN 207858818 U CN207858818 U CN 207858818U CN 201721842907 U CN201721842907 U CN 201721842907U CN 207858818 U CN207858818 U CN 207858818U
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- chassis
- mobile station
- integral type
- mounting base
- platform body
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Abstract
This application discloses integral type anticollision mobile stations, it include the chassis on the platform body, the platform body is equipped with grabbing device and is respectively arranged on the anticollision mechanism of the front and rear end of the platform body, the grabbing device includes the manipulator being arranged on the chassis and the handgrip in the manipulator actuating station is arranged, the anticollision mechanism includes an anticollision portion and two interconnecting pieces that are mutually parallel, one end of two interconnecting pieces by a connection piece with the chassis is detachable is fixedly connected, the both ends in the anticollision portion are connect with the other end of two interconnecting pieces respectively.The application can realize that distant signal stablizes transmission, improve the scope of application of the application and can integrate anticollision, artificial lift to move, machinery lifting, keep its structure more compact.
Description
Technical field
This application involves robotic technology field more particularly to integral type anticollision mobile stations.
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 integral type anticollision mobile station, by the way that grabbing device and Buddhist abbot's machine is arranged
Structure is realized to accomplish to launch repeater when carrying out remote inspection, realizes that distant signal stablizes transmission, improve the application
The scope of application and can integrate anticollision, artificial lift to move, machinery lifting, keep its structure more compact.
In order to solve the above-mentioned technical problem, it this application provides integral type anticollision mobile station, including platform body and is set to
Chassis on the platform body, the platform body be equipped with grabbing device and be respectively arranged on the platform body front end and
The anticollision mechanism of rear end, the grabbing device include that the manipulator being arranged on the chassis and setting are executed in the manipulator
The handgrip at end, the anticollision mechanism include an anticollision portion and two interconnecting pieces that are mutually parallel, and one end of two interconnecting pieces passes through
A connection piece with the chassis is detachable is fixedly connected, the both ends in the anticollision portion connect with the other end of two interconnecting pieces respectively
It connects.
Further, the manipulator include with the platform body rotate the first driving means connecting, with it is described
The output end of first driving means rotate connection the second driving device mounting base, be placed in second driving device installation
The second driving device, the first mounting base connecting that rotates with the output end of second driving device in seat, one end are set to
First connecting rod on the side wall of first mounting base, set on the first connecting rod other end the second mounting base, be placed in it is described
Third driving device, one end in second mounting base are rotated company by the output shaft of a transfer block and the third driving device
The second connecting rod that connects, is set in the third mounting base third mounting base being fixedly connected with the other end of the second connecting rod
Four-drive device, the handgrip mounting plate connecting that rotates with the output shaft of the four-drive device, be set to the handgrip
Lifting cylinder on mounting plate, the handgrip are set to the actuating station of the lifting cylinder, and being additionally provided on the mounting plate multiple is
Installation position.
Further, there are two the installation positions, two installation positions are respectively the first installation position and the second installation position, described
First installation position is equipped with multiple vision inspection apparatus, and second installation position is equipped with the second gamma detector.
Further, further include the first control device and second control device being set on the chassis, the platform sheet
The front end of body is equipped with a netted mounting plate, and the netted mounting plate is equipped with multiple vision collecting devices, lighting device and obstacle
Analyte detection device, the rear end of the platform body be equipped with the first control panel being electrically connected respectively with the first control device and
The second control panel being electrically connected with the second control device, the second control device are filled with the vision collecting respectively
It sets, obstacle detector electrical connection, the first control device is electrically connected with the second control device.
Further, the vision collecting device includes two, respectively infrared camera and depth camera.
Further, the obstacle detector is the laser thunder being set to by mounting base on the netted mounting plate
It reaches.
Further, the thickness on the chassis is 4mm-10mm, and it is 1mm-3mm that the upper surface on the chassis, which is equipped with thickness,
Stereotype, the downside on the chassis is equipped with battery case, equipped with multiple installing zones for installing battery in the battery case.
Further, the first control device respectively with first driving means, second driving device, described
Third driving device, the four-drive device and lifting cylinder electrical connection.
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.
The advantageous effect of the application is:
1) 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 so that the anticollision portion of the application integrates the structure needs of anticollision, artificial lift to move, machinery lifting, makes
More traditional simple compared to more of whole structure, use scope is more extensive;
2) 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.
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 integral type anticollision mobile station described in one preferred embodiment of this explanation, including platform sheet
The downside on body 1 and the chassis 2 being arranged on the platform body 1, chassis 2 is equipped with battery case 4, and 16 are equipped in the battery case 4
A installing zone for installing battery.Facilitate the front end of platform body as defined in the application for normal driving headstock to describe
The rear end in portion, platform body is that the tailstock portion normally to drive a vehicle integrally seems concise beauty to keep design structure more compact
It sees, preferably chassis 2 is equipped with the first installation region 6, the second installation region 8 and third installing zone successively along the direction of front end to rear end
Domain 10, is equipped with elevating mechanism 12 and the grabbing device 14 above the elevating mechanism 12 in the first installation region 6, and second
Installation region is equipped with first control device 16, the router 18 being arranged above the first control device 16, multiple motors and drives
Dynamic device 20 and multiple analog line drivers 22 are equipped with second control device 17 and setting in second control in third installation region
The ends PC 19 of 17 downside of device processed are additionally provided with radiator on the chassis 2, and preferably radiator includes being set to described second to pacify
Fill the fan 24 between region and 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, 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 integral type anticollision mobile station of the application further includes bottom shell compatible with the shape on the chassis
Body, 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 the shell of platform body rear end
Lateral surface is equipped with the first control panel 36, the second control panel 38 and the antenna 40 for receiving signal, the netted mounting plate
34 are equipped with multiple vision collecting devices, lighting device and obstacle detector, and preferably vision inspection apparatus includes two, point
Not Wei infrared camera 44 and depth camera 42, preferably obstacle detector be by mounting base be set to the netted mounting plate
On laser radar, be equipped with the first control panel for be electrically connected with first control device in the rear end of platform body and controlled with second
Second control panel of device processed electrical connection, includes multiple USB interfaces, emergency stop switch and mesh on the first control panel, and second
Include the general aviation socket of multiple USB interfaces and detector on control panel.First control device respectively with the repeater,
The manipulator, the motor driver, the analog line driver electrical connection, the second control device respectively with the routing
Device, the vision collecting device, the obstacle detector, the antenna electrical connection, the first control device with it is described
Second control 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 integral type anticollision mobile station of the application further includes upper cover, the upper cover passes through more with the shell 50
A tower button 48 connects.
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 integral type anticollision mobile station of the application is placed in region to be maked an inspection tour, mobile station starts autonomous operation, the first control
Device processed control mobile station is advanced, while the vision collecting device and obstacle detector for being arranged in mobile station front end start pair
The travel zone of mobile station is scanned, and collected path data, which is then sent to second control device, is then stored in PC
End, second control device are sent to first control device according to the path data of acquisition, and first control device is according to the second control
The traveling of the signal control mobile station of device, the manipulator on the upside of elevating mechanism start to move around above, make to be mounted on
The second gamma detector on second installation position starts to detect, when running to a position to be detected, first control device control
It makes the driving screw pair rotation of the 5th driving device while the pressing plate downlink being mounted on screw pair being driven to drive surface
Pollution detection device and mounted on surface contamination detector side the second gamma detector downlink contact ground, be the effect of compression spring
Under 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 machinery
Handgrip on hand starts to extend into crawl repeater at repeater Storage Box under the auxiliary of camera and is launched, and mobile station is write down
It is continued on after placement position, when detection terminates to need return, the ends PC are planned back according to the position of the repeater of dispensing
Then the route of journey sends the signal to first control device by second control device, first control device is according to reception
Path signal is open to traffic, and after running to original release position, handgrip starts to collect the repeater placement repeater launched before
In 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 (9)
1. integral type anticollision mobile station, including platform body and the chassis on the platform body, which is characterized in that described
Platform body is equipped with grabbing device and is respectively arranged on the anticollision mechanism of the front and rear end of the platform body, the crawl dress
It sets the manipulator including being arranged on the chassis and the handgrip in the manipulator actuating station is set, the anticollision mechanism includes
One anticollision portion and two interconnecting pieces that are mutually parallel, one end of two interconnecting pieces are detachable by a connection piece and the chassis
It is fixedly connected, the both ends in the anticollision portion are connect with the other end of two interconnecting pieces respectively.
2. integral type anticollision mobile station according to claim 1, which is characterized in that the manipulator includes and the platform
Ontology rotate connection first driving means, rotate with the output end of the first driving means connect second driving dress
It is the mounting base set, the second driving device being placed in the second driving device mounting base, defeated with second driving device
Outlet rotate first connecting rod that the first mounting base of connection, one end be set on the side wall of first mounting base, be set to it is described
Second mounting base of the first connecting rod other end, the third driving device being placed in second mounting base, one end pass through a switching
Block and the output shaft of the third driving device rotate the second connecting rod connecting, fix and connect with the other end of the second connecting rod
The output shaft of the third mounting base, the four-drive device in the third mounting base and the four-drive device that connect
Rotate handgrip mounting plate, the lifting cylinder on the handgrip mounting plate of connection, and the handgrip is set to the lifting air
The actuating station of cylinder, it is installation position to be additionally provided with multiple on the mounting plate.
3. integral type anticollision mobile station according to claim 2, which is characterized in that there are two the installation positions, two peaces
Dress position is respectively the first installation position and the second installation position, and first installation position is equipped with multiple vision inspection apparatus, and described the
Two installation positions are equipped with the second gamma detector.
4. integral type anticollision mobile station according to claim 2, which is characterized in that further include the be set on the chassis
One control device and second control device, the front end of the platform body are equipped with a netted mounting plate, on the netted mounting plate
Equipped with multiple vision collecting devices, lighting device and obstacle detector, the rear end of the platform body be equipped with respectively with institute
The second control panel stated the first control panel of first control device electrical connection and be electrically connected with the second control device, institute
It states second control device to be electrically connected with the vision collecting device, the obstacle detector respectively, the first control dress
It sets and is electrically connected with the second control device.
5. integral type anticollision mobile station according to claim 4, which is characterized in that the vision collecting device includes two
It is a, respectively infrared camera and depth camera.
6. integral type anticollision mobile station according to claim 4, which is characterized in that the obstacle detector is to pass through
Mounting base is set to the laser radar on the netted mounting plate.
7. integral type anticollision mobile station according to claim 1, which is characterized in that the thickness on the chassis is 4mm-
10mm, the upper surface on the chassis are equipped with the stereotype that thickness is 1mm-3mm, and the downside on the chassis is equipped with battery case, described
Equipped with multiple installing zones for installing battery in battery case.
8. integral type anticollision mobile station according to claim 4, which is characterized in that the first control device respectively with institute
State first driving means, second driving device, the third driving device, the four-drive device and lifting cylinder
Electrical connection.
9. integral type anticollision mobile station according to claim 4, which is characterized in that be additionally provided with relaying on the platform body
Device Storage Box, the repeater Storage Box is interior to be equipped with multiple repeaters, and the repeater connects with the first control device signal
It connects.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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CN201721842907.8U CN207858818U (en) | 2017-12-26 | 2017-12-26 | Integral type anticollision mobile station |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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CN201721842907.8U CN207858818U (en) | 2017-12-26 | 2017-12-26 | Integral type anticollision mobile station |
Publications (1)
Publication Number | Publication Date |
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CN207858818U true CN207858818U (en) | 2018-09-14 |
Family
ID=63466513
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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CN201721842907.8U Active CN207858818U (en) | 2017-12-26 | 2017-12-26 | Integral type anticollision mobile station |
Country Status (1)
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CN (1) | CN207858818U (en) |
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2017
- 2017-12-26 CN CN201721842907.8U patent/CN207858818U/en active Active
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