CN207860319U - A kind of near-earth inspection car - Google Patents

Abstract

This application discloses a kind of near-earth inspection cars, it is characterized in that, including the elevating mechanism being arranged on platform body, the detection device being arranged on elevating mechanism, platform body includes a chassis, elevating mechanism includes one can be with respect to the pressing plate of chassis upper surface relative motion, more sunpenders are equipped on pressing plate, the upper end of sunpender is held in the upper surface of pressing plate by a stage, the lower end of sunpender is connect with detection device, sunpender is arranged with compression spring in the rod segment between detection device and pressing plate, the upper end of compression spring supports the lower surface of pressing plate, the lower end of compression spring supports detection device, the opening passed through for detection device is offered on chassis, the application can improve the accuracy of detection, the service life of industrial safety and trolley.

Description

A kind of near-earth inspection car

Technical field

This application involves autonomous inspection technical field more particularly to a kind of near-earth inspection cars.

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 Scene and rugged environment under, testing staff can not be directly entered scene complete measurement task, and much measure need with Ground contact measures, therefore the requirement to trolley is relatively high.

Invention content

The application technical problems to be solved are to provide a kind of near-earth inspection car, by the way that elevator is arranged on inspection platform Structure realizes the ground detection under particular surroundings, improves the accuracy of detection, improves industrial safety and trolley Service life is improved.

In order to solve the above-mentioned technical problem, this application provides a kind of near-earth inspection cars, including platform body, setting are in institute The detection device stated the elevating mechanism on platform body, be arranged on the elevating mechanism, the platform body include a chassis, The elevating mechanism include one can the relatively described chassis upper surface relative motion pressing plate, be equipped with more on the pressing plate and hang Bar, the upper end of the sunpender are held in the upper surface of the pressing plate by a stage, and the lower end of the sunpender is filled with the detection Set connection, the sunpender is arranged with compression spring in the rod segment between the detection device and the pressing plate, the compression spring it is upper End supports the lower surface of the pressing plate, and the lower end of the compression spring supports the detection device, offered described in confession on the chassis The opening that detection device passes through.

Further, the upside of the pressing plate is equipped with a mounting plate with lug, is set on the mounting plate at lug There are one 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 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 output end of the screw pair drives the upper surface on the relatively described chassis to pump.

Further, the transmission device includes the first synchronous pulley being connect with the output end of the 5th driving device Be arranged on the mounting plate the second synchronous pulley, third synchronous pulley and be arranged in second synchronous pulley and institute The 4th synchronous pulley between third synchronous pulley is stated, the conveyer belt of the transmission device sequentially passes through first synchronous belt Wheel, the second synchronous pulley, the 4th synchronous pulley and third synchronous pulley.

Further, the screw pair includes two, respectively the first screw pair and the second screw pair, Each screw pair includes leading screw and the sliding block on the leading screw, the leading screw of first screw pair it is upper End is rotatablely connected with second synchronous pulley, and the lower end of the leading screw of first screw pair passes through a bearing and the bottom Disk connects, and the sliding block of first screw pair is connect with the pressing plate, the upper end of the leading screw of second screw pair It is rotatablely connected with the third synchronous pulley, the lower end of the leading screw of second screw pair passes through a bearing and the chassis Connection, the sliding block of second screw pair are connect with the pressing plate.

Further, further include guiding mechanism, the guiding mechanism include more connection plates and chassis guide post and The linear bearing being slidably connected on the guide post, the pressing plate are connect with the linear bearing, and with the linear bearing It moves up and down and is moved back and forth up and down along the guide post.

Further, the 5th driving device is DC brushless motor.

Further, further include first control device, the control device is electrically connected with the 5th driving device.

Further, the 4th synchronous pulley is pre- bearing up pulley.

Further, the guide post includes four, is respectively placed in the corner location of the mounting plate.

The advantageous effect of the application is：

Detection device is arranged by the lift side in elevating mechanism in the application, satisfaction may be implemented, detection device is needed to press The special detection mode of the purpose of detection is realized on ground, to avoid for detection device and trolley performance in the way of traveling Damage, can be risen to by elevating mechanism and be achieved in the detection needs for meeting special pattern apart from ground certain altitude.

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 near-earth inspection car 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 The ends PC 19 of 17 downsides are additionally provided with radiator on the chassis 2, and preferably radiator includes being set to second installation region 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, 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 near-earth inspection car 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 near-earth inspection car 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 near-earth inspection car 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 (9)

1. a kind of near-earth inspection car, which is characterized in that including platform body, the elevating mechanism being arranged on the platform body, Detection device on the elevating mechanism is set, and the platform body includes a chassis, and the elevating mechanism can phase including one To the pressing plate of chassis upper surface relative motion, more sunpenders are equipped on the pressing plate, the upper end of the sunpender passes through one Stage is held in the upper surface of the pressing plate, and the lower end of the sunpender is connect with the detection device, and the sunpender is located at described Compression spring is arranged in rod segment between detection device and the pressing plate, the upper end of the compression spring supports the lower surface of the pressing plate, The lower end of the compression spring supports the detection device, and the opening passed through for the detection device is offered on the chassis.

2. near-earth inspection car according to claim 1, which is characterized in that the upside of the pressing plate, which is equipped with one, has lug Mounting plate is located at the mounting plate at lug and is equipped with one the 5th driving device, and the output end of the 5th driving device and one pass One end of device is sent to connect, the other end of the transmission device is connect with the input terminal of a screw pair, the pressing plate and institute The output end connection of screw pair is stated, and drives the upper surface on the relatively described chassis to do by the output end of the screw pair It pumps.

3. near-earth inspection car according to claim 2, which is characterized in that the transmission device includes and the described 5th drives First synchronous pulley of the output end connection of device and the second synchronous pulley, the third synchronous pulley being arranged on the mounting plate And the 4th synchronous pulley being arranged between second synchronous pulley and the third synchronous pulley, the transmission device Conveyer belt sequentially passes through first synchronous pulley, the second synchronous pulley, the 4th synchronous pulley and third synchronous pulley.

4. near-earth inspection car according to claim 3, which is characterized in that the screw pair includes two, respectively First screw pair and the second screw pair, each screw pair includes leading screw and the cunning on the leading screw Block, the upper end of the leading screw of first screw pair are rotatablely connected with second synchronous pulley, first feed screw nut The lower end of secondary leading screw is connect by a bearing with the chassis, and sliding block and the pressing plate of first screw pair connect It connects, the upper end of the leading screw of second screw pair is rotatablely connected with the third synchronous pulley, second feed screw nut The lower end of secondary leading screw is connect by a bearing with the chassis, and sliding block and the pressing plate of second screw pair connect It connects.

5. near-earth inspection car according to claim 1, which is characterized in that further include guiding mechanism, the guiding mechanism packet The linear bearing for including the guide post of more connection plates and chassis and being slidably connected on the guide post, the pressing plate with it is described straight Spool holds connection, and is moved back and forth up and down along the guide post with the moving up and down for linear bearing.

6. near-earth inspection car according to claim 2, which is characterized in that the 5th driving device is brush DC electricity Machine.

7. near-earth inspection car according to claim 2, which is characterized in that further include first control device, the control dress It sets and is electrically connected with the 5th driving device.

8. near-earth inspection car according to claim 3, which is characterized in that the 4th synchronous pulley is pre- bearing up pulley.

9. near-earth inspection car according to claim 5, which is characterized in that the guide post includes four, is respectively placed in described The corner location of mounting plate.