CN106680889A - Small-size metal detection vehicle - Google Patents
Small-size metal detection vehicle Download PDFInfo
- Publication number
- CN106680889A CN106680889A CN201611113441.8A CN201611113441A CN106680889A CN 106680889 A CN106680889 A CN 106680889A CN 201611113441 A CN201611113441 A CN 201611113441A CN 106680889 A CN106680889 A CN 106680889A
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- Prior art keywords
- swing mechanism
- main shaft
- wheel
- arm part
- arm
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V9/00—Prospecting or detecting by methods not provided for in groups G01V1/00 - G01V8/00
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- General Physics & Mathematics (AREA)
- Geophysics (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The invention discloses a small-size metal detection vehicle, and the vehicle comprises a vehicle body; two crawler wheels, wherein the two crawler wheels are respectively disposed at two sides of the vehicle body, a driving wheel of each crawler wheel is driven by a traveling driving mechanism to rotate, and the traveling driving mechanism comprises a hollow shaft, a first stepping motor, and a first speed reducer; a carrying bottom plate which is disposed at the upper end of the vehicle body; a carrying mechanical arm which comprises a shoulder part, a lower arm part, a central arm part and an upper arm part, wherein the shoulder part is disposed on the carrying bottom plate through a rotating mechanism, one end of the lower arm part is disposed on the shoulder part through a lower swinging mechanism, one end of the central arm part is disposed at the other end of the lower arm part through a central swinging mechanism, and one end of the upper arm part is disposed at the other end of the central arm part through an upper swinging mechanism. The rotating mechanism comprises a second stepping motor, a second speed reducer, a sleeve-type shaft coupler, a connection main shaft, and a connection sleeve. The vehicle can carry detection equipment to automatically walk, so as to replace a worker for metal detection, thereby reducing the detection difficulty and danger degree.
Description
Technical field
The present invention relates to metal detection device field, more particularly to a kind of micro metal probe vehicles.
Background technology
With the development of human society science and technology, robot is more and more extensive in real-life application.At present, although
Technology in terms of metal detection is more and more ripe, but existing metal detecting device does not have the function that can voluntarily detect,
Many occasions, metal detection is still needed and manually carry out detection operations, and this just greatly improves the difficulty of metal detection work
And degree of danger, so as to affect the efficiency of metal detection, and increase the difficulty that safety guarantee is carried out to metal detection staff
Degree.
The information for being disclosed in the background section is merely intended to increase the understanding of the general background to the present invention, and should not
When the prior art for being considered to recognize or imply in any form the information structure well known to persons skilled in the art.
The content of the invention
It is an object of the invention to provide a kind of micro metal probe vehicles, so as to overcome existing metal detecting device because not
There is the function that can voluntarily detect and the difficulty and degree of danger of metal detection work is improved.
For achieving the above object, the invention provides a kind of micro metal probe vehicles, wherein, including：Car body；Two crawler belts
Wheel, the left and right sides of the car body is each provided with the Athey wheel, and each Athey wheel includes driving wheel, directive wheel, some
Individual BOGEY WHEEL, crawler belt and damper mechanism；The driving wheel of each Athey wheel is driven by a hoofing part mechanism and is carried out
Rotate, the hoofing part mechanism includes hollow axle, the first motor and the first decelerator, and the hollow axle is by rolling
Bearing is rotatably arranged on the car body, the driving wheel fixed cover on the hollow axle, described the
One motor is attached by first decelerator and the hollow axle；Base plate is carried, it is fixedly installed on the car
The upper end of body；And mechanical hand is carried, it includes shoulder, lower arm part, middle arm and upper arm parts, and the shoulder is rotated by one
Mechanism is arranged on the carrying base plate in the way of it can horizontally rotate, and one end of the lower arm part passes through a bottom motivation
Structure is arranged on the shoulder in the way of it can swing up and down, and one end of the middle arm is by swing mechanism in can
The mode for swinging up and down is arranged at the other end of the lower arm part, and one end of the upper arm parts by swing mechanism on energy
The mode for enough swinging up and down is arranged at the other end of the middle arm, and the other end of the upper arm parts is used to install detecting devices；
The rotating mechanism includes the second motor, the second decelerator, case butt coupling, connection main shaft and adapter sleeve, described
Adapter sleeve is fixedly installed on the carrying base plate, and the connection main shaft is rotatably set by angular contact ball bearing
It is placed on the adapter sleeve, the shoulder is fixed on the upper end of the connection main shaft；Second decelerator passes through the sleeve
Formula shaft coupling connects with the lower end of the connection main shaft, and second motor is connected with second decelerator.
Preferably, in above-mentioned technical proposal, the structure of the lower swing mechanism is identical with the structure of the rotating mechanism, institute
The adapter sleeve for stating lower swing mechanism is fixed on the shoulder, the institute of one end of the lower arm part and the lower swing mechanism
State connection main shaft to be attached.
Preferably, in above-mentioned technical proposal, the structure of the middle swing mechanism is identical with the structure of the rotating mechanism, institute
The adapter sleeve for stating middle swing mechanism is fixed on the other end of the lower arm part, one end of the middle arm and the middle swing
The connection main shaft of mechanism is attached.
Preferably, in above-mentioned technical proposal, the structure of the upper swing mechanism is identical with the structure of the rotating mechanism, institute
The adapter sleeve for stating swing mechanism is fixed on the other end of the middle arm, one end of the upper arm parts and the upper swing
The connection main shaft of mechanism is attached.
Preferably, in above-mentioned technical proposal, the damper mechanism of each Athey wheel include several respectively with one
The corresponding damper unit of the BOGEY WHEEL, each described damper unit includes damping component, shock-absorbing spring and vibration-reducing connecting part,
The damping component is arranged on the car body in the way of it can slide up and down, and each described BOGEY WHEEL is arranged at corresponding institute
State on damping component, the vibration-reducing connecting part is fixedly installed on the car body, the vibration-reducing connecting part and the damping component
Between be attached by the shock-absorbing spring.
Compared with prior art, the present invention has the advantages that：
1st, car body of the invention is walked by Athey wheel, and the crawler belt area of Athey wheel is big, grounding pressure is little, roll resistance
Buddhist nun is little, relatively good by property, and it has off-road mobility good, and the advantages of the function admirable such as ditch is got in climbing, and the present invention takes
The other end for carrying the upper arm parts of mechanical hand is loaded after metal detection equipment equipment, can complete multiple degree of freedom, on a large scale metal
The task of detection such that it is able to which replacement manually carries out metal detection work, to reduce the difficulty and degree of danger of metal detection.
2nd, driving wheel of the invention is driven using hollow axle and is rotated, and it can save material in the case where same intensity and toughness is required
Material, economy is strong.
3rd, hoofing part mechanism of the invention, rotating mechanism and each swing mechanism are driven from motor
It is dynamic, to reduce complete vehicle weight and cost-effective, meet the requirement of economy.
Description of the drawings
Fig. 1 is the structural representation according to micro metal probe vehicles of the present invention.
Fig. 2 is the top view of Fig. 1 of the invention.
Fig. 3 is the top view of carrying mechanical hand of the invention.
Fig. 4 is the structural representation of hoofing part mechanism of the invention.
Fig. 5 is the structural representation of rotating mechanism of the invention.
Main Reference Numerals explanation：
1- car bodies, 2- Athey wheels, 3- driving wheels, 4- directive wheels, 5- BOGEY WHEELs, 6- crawler belts, 7- damping components, 8- vibration dampings connect
Fitting, 9- shock-absorbing springs, 10- shoulders, 11- lower arm parts, arm in 12-, 13- upper arm parts, 14- detecting devices, 15- carries bottom
Plate, the motors of 16- first, the decelerators of 17- first, 18- lower swings mechanism, swing mechanism in 19-, the upper swing mechanisms of 20-,
21- hollow axles, the motors of 22- second, the decelerators of 23- second, 24- case butt couplings, 25- adapter sleeves, 26- connection masters
Axle.
Specific embodiment
Below in conjunction with the accompanying drawings, the specific embodiment of the present invention is described in detail, it is to be understood that the guarantor of the present invention
Shield scope is not limited by specific embodiment.
Explicitly indicate that unless otherwise other, otherwise in entire disclosure and claims, term " including " or its change
Change such as "comprising" or " including " etc. and will be understood to comprise stated element or ingredient, and do not exclude other units
Part or other ingredients.
Fig. 1 to Fig. 5 shows a kind of structural representation of micro metal probe vehicles according to the preferred embodiment of the present invention,
The micro metal probe vehicles include 1, two Athey wheels 2 of car body, carry base plate 15 and carry mechanical hand, and car body 1 includes two
Side plate and crossbeam, two side plates are located at and are fixed together by crossbeam between the left and right sides, and two side plates.With reference to figure
1 and Fig. 2, the left and right sides of car body 1 is each provided with an Athey wheel 2, and Athey wheel 2 uses the Athey wheel of routine in the art
Structure, each Athey wheel 2 includes driving wheel 3, directive wheel 4, several BOGEY WHEELs 5, crawler belt 6 and damper mechanism, and driving wheel 3 sets
The rear side of car body 1 is placed in, directive wheel 4 is arranged at the front side of car body 1, several BOGEY WHEELs 5 are equally spaced in car body 1 from A-P
Bottom, crawler belt 6 is the Timing Belt with double cog, and it is set around on driving wheel 3, directive wheel 4 and several BOGEY WHEELs 5.
The driving wheel 3 of each Athey wheel 2 is driven by a hoofing part mechanism and is rotated, with reference to Fig. 2 and Fig. 4, hoofing part mechanism
Including hollow axle 21, the first motor 16 and the first decelerator 17, hollow axle 21 passes through a pair of rolling bearings to turn
Dynamic mode is arranged on car body 1, the fixed cover of driving wheel 3 on the hollow axle 21, the first motor 16 and the first decelerator
17 are arranged on car body 1, and the first motor 16 is attached by the first decelerator 17 with hollow axle 21, the first decelerator
17 is precision speed reduction device.First motor 16 controls hollow axle 21 and is rotated by the first lace reducing device 17, so that driving
Driving wheel 3 is rotated, so that car body 1 is walked by crawler belt 6.The driving wheel 3 of the present invention is driven using hollow axle 21 and is rotated,
It can be strong with material-saving, economy in the case where same intensity and toughness is required.
Each Athey wheel 2 carries out vibration damping by a damper mechanism, to improve the stability of the walking of car body 1 and detection process.
Preferably, with reference to Fig. 1, the damper mechanism of each Athey wheel 2 include several respectively with a corresponding damper unit of BOGEY WHEEL 5,
Each damper unit includes damping component 7, shock-absorbing spring 9 and vibration-reducing connecting part 8, and damping component 7 is can slide up and down
Mode is arranged on car body 1, and each BOGEY WHEEL 5 is arranged on corresponding damping component 7, and vibration-reducing connecting part 8 is fixedly installed on car
On body 1, it is attached by shock-absorbing spring 9 between vibration-reducing connecting part 8 and damping component 7.The Athey wheel 2 of the present invention is provided with four
Individual BOGEY WHEEL 5, then be just correspondingly provided with four damper units in each Athey wheel 2, each BOGEY WHEEL 5 of the present invention passes through
One damper unit carries out vibration damping, its good damping result.
Referring to figs. 2 and 3, the upper end that base plate 15 is fixedly installed on car body 1 is carried, carry mechanical hand and be arranged at carrying base plate
On 15, it is a robot manipulator structure that there is four-degree-of-freedom can detect on a large scale to carry mechanical hand, and it includes shoulder 10, lower arm part
11st, middle arm 12 and upper arm parts 13, shoulder 10 carries bottom a rotating mechanism to be arranged at by way of can horizontally rotating
On plate 15, one end of lower arm part 11 a lower swing mechanism 18 to be arranged at by way of can swinging up and down on shoulder 10,
One end of middle arm 12 swing mechanism in one 19 to be arranged at the other end of lower arm part 11 by way of can swinging up and down, and
One end of upper arm parts 13 swing mechanism on one 20 to be arranged at the other end of middle arm 12 by way of can swinging up and down, on
The other end of arm 13 is used to install detecting devices 14.Shoulder 10 can carry out 330 ° of rotations, lower arm part 11, middle arm in horizontal plane
Portion 12 and upper arm parts 13 can up and down carry out 150 ° of swings in specified range.
With reference to Fig. 5, rotating mechanism includes the second motor 22, the second decelerator 23, case butt coupling 24, connection master
Axle 26 and adapter sleeve 25, adapter sleeve 25 is fixedly installed on carrying base plate 15, and connection main shaft 26 passes through a pair of angular contact ball axles
Hold and be rotatably arranged on adapter sleeve 25, and connect the axis vertical distribution of main shaft 26, shoulder 10 is fixed on company
Connect the upper end of main shaft 26.Second motor 22 and the second decelerator 23 are arranged on carrying base plate 15, and the second decelerator 23 leads to
Cross case butt coupling 24 and connect with the lower end for being connected main shaft 26, the second decelerator 23 is precision speed reduction device.Second motor
22 are connected with the second decelerator 23.Second motor 22 is by the second decelerator 23 and the drive connection master of case butt coupling 24
Axle 26 is rotated, so as to drive shoulder 10 to be rotated, so as to entirely carry mechanical hand can horizontally rotate.
Preferably, the structure of lower swing mechanism and the structure of rotating mechanism are identical, the structure and rotating machine of middle swing mechanism
The structure of structure is identical, and the structure of upper swing mechanism is also identical with the structure of rotating mechanism.I.e. three swing mechanisms are also bags
Include the second motor 22, the second decelerator 23, case butt coupling 24, connection main shaft 26 and adapter sleeve 25.Wherein, the bottom
The adapter sleeve 25 of motivation structure, the second motor 22 and the second decelerator 23 are fixed on shoulder 10, the connection of lower swing mechanism
The axis horizontal distribution of main shaft 26, one end of lower arm part 11 is attached with the connection main shaft 26 of lower swing mechanism；Middle oscillating machine
The adapter sleeve 25 of structure, the second motor 22 and the second decelerator 23 are fixed on the other end of lower arm part 11, middle swing mechanism
The connection horizontal distribution of main shaft 26, one end of middle arm 12 is attached with the connection main shaft 26 of middle swing mechanism；Upper swing mechanism
Adapter sleeve 25, the second motor 22 and the second decelerator 23 be fixed on the other end of middle arm 12, the company of upper swing mechanism
The horizontal distribution of main shaft 26 is connect, one end of upper arm parts 13 is attached with the connection main shaft 26 of upper swing mechanism.The walking of the present invention
Drive mechanism, rotating mechanism and each swing mechanism are driven from motor, to reduce complete vehicle weight and saving
Cost, meets the requirement of economy
During present invention work, drive car body to be walked by two Athey wheels 2, during walking, if necessary to turn to, then lead to
The rotating speed for changing two 3 first motors 16, and then the gait of march of change both sides Athey wheel 2 are crossed, along with directive wheel 4
Coordinate, it is possible to complete the steering of probe vehicles.When metal detection task is carried out, while car body 1 is walked, each second stepping
Motor 22 coordinates work, by horizontally rotating for shoulder 10, and can cross the pendulum of lower arm part 11, middle arm 12 and upper arm parts 13
It is dynamic, mechanical hand integrally can be stretched forward, reach and specify detecting location to carry out metal detection, so as to the metal for completing to specify is visited
Survey task.The car body 1 of the present invention is walked by Athey wheel 2, and the area of crawler belt 6 of Athey wheel 2 is big, grounding pressure is little, rolling
Damping is little, relatively good by property, and it has off-road mobility good, the advantages of getting over the function admirables such as ditch of climbing, and the present invention
The other end for carrying the upper arm parts 13 of mechanical hand is loaded after detecting devices 14, can complete multiple degree of freedom, on a large scale metal spy
The task of survey such that it is able to which replacement manually carries out metal detection work, to reduce the difficulty and degree of danger of metal detection.
The micro metal probe vehicles of the present invention have the spy of the ability of flexible avoidance, obstacle detouring, climbing and preferable adaptation to the ground
Point, can load metal detection equipment equipment, and small volume, simple structure, low cost is practical, and it can be used to perform various gold
Category detection mission, application prospect is extensive.With the development of the city, underground pipe network becomes increasingly complex, small-sized in engineering construction field
Metal detection car can help investigate thoroughly the situation of underground pipe network and cable, prevent from constructing and cause unnecessary loss.Archaeology,
Get rid of the danger, defective work reclaims field, micro metal probe vehicles can help find to be imbedded in object of the underground with metal, so as to
In recovery and exclusion.
It is aforementioned to the present invention specific illustrative embodiment description be in order to illustrate and illustration purpose.These descriptions
It is not wishing to limit the invention to disclosed precise forms, and it will be apparent that according to above-mentioned teaching, can be much changed
And change.The purpose of selecting and describing the exemplary embodiment is that explaining that the certain principles and its reality of the present invention should
With so that those skilled in the art can realize and using the present invention a variety of exemplaries and
A variety of selections and change.The scope of the present invention is intended to be limited by claims and its equivalents.
Claims (5)
1. a kind of micro metal probe vehicles, it is characterised in that include：
Car body；
Two Athey wheels, the left and right sides of the car body is each provided with the Athey wheel, each Athey wheel include driving wheel,
Directive wheel, several BOGEY WHEELs, crawler belt and damper mechanism；The driving wheel of each Athey wheel is by a hoofing part machine
Structure drives and is rotated, and the hoofing part mechanism includes hollow axle, the first motor and the first decelerator, described hollow
Axle is rotatably arranged on the car body by rolling bearing, and the driving wheel fixed cover is located at the hollow axle
On, first motor is attached by first decelerator and the hollow axle；
Base plate is carried, it is fixedly installed on the upper end of the car body；And
Mechanical hand is carried, it includes shoulder, lower arm part, middle arm and upper arm parts, and the shoulder is by a rotating mechanism with energy
The mode for enough horizontally rotating is arranged on the carrying base plate, and one end of the lower arm part is by a lower swing mechanism with can
The mode for swinging up and down is arranged on the shoulder, and one end of the middle arm is by swing mechanism in can swing up and down
Mode be arranged at the other end of the lower arm part, and one end of the upper arm parts by swing mechanism on so that the bottom can be gone up
Dynamic mode is arranged at the other end of the middle arm, and the other end of the upper arm parts is used to install detecting devices；The rotation
Mechanism includes the second motor, the second decelerator, case butt coupling, connection main shaft and adapter sleeve, and the adapter sleeve is consolidated
Surely it is arranged on the carrying base plate, the connection main shaft is rotatably arranged at described by angular contact ball bearing
On adapter sleeve, the shoulder is fixed on the upper end of the connection main shaft；Second decelerator passes through the case butt coupling
Connect with the lower end of the connection main shaft, second motor is connected with second decelerator.
2. micro metal probe vehicles according to claim 1, it is characterised in that the structure of the lower swing mechanism with it is described
The structure of rotating mechanism is identical, and the adapter sleeve of the lower swing mechanism is fixed on the shoulder, and the one of the lower arm part
End is attached with the connection main shaft of the lower swing mechanism.
3. micro metal probe vehicles according to claim 1, it is characterised in that the structure of the middle swing mechanism with it is described
The structure of rotating mechanism is identical, and the adapter sleeve of the middle swing mechanism is fixed on the other end of the lower arm part, it is described in
One end of arm is attached with the connection main shaft of the middle swing mechanism.
4. micro metal probe vehicles according to claim 1, it is characterised in that the structure of the upper swing mechanism with it is described
The structure of rotating mechanism is identical, and the adapter sleeve of the upper swing mechanism is fixed on the other end of the middle arm, it is described on
One end of arm is attached with the connection main shaft of the upper swing mechanism.
5. micro metal probe vehicles according to claim 1, it is characterised in that the vibration damping machine of each Athey wheel
Structure includes several respectively damper units corresponding with BOGEY WHEEL, and each described damper unit includes damping component, subtracts
Shake spring and vibration-reducing connecting part, and the damping component is arranged on the car body in the way of it can slide up and down, each institute
State BOGEY WHEEL to be arranged on the corresponding damping component, the vibration-reducing connecting part is fixedly installed on the car body, described to subtract
Shake and be attached by the shock-absorbing spring between connector and the damping component.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611113441.8A CN106680889A (en) | 2016-12-06 | 2016-12-06 | Small-size metal detection vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611113441.8A CN106680889A (en) | 2016-12-06 | 2016-12-06 | Small-size metal detection vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106680889A true CN106680889A (en) | 2017-05-17 |
Family
ID=58868988
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611113441.8A Pending CN106680889A (en) | 2016-12-06 | 2016-12-06 | Small-size metal detection vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106680889A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109382816A (en) * | 2017-08-11 | 2019-02-26 | 中核四0四有限公司 | A kind of high radiation underground space source item investigation robot system |
| CN110901779A (en) * | 2018-09-18 | 2020-03-24 | 北京市热力集团有限责任公司 | Crawler-type waterproof inspection trolley suitable for heat supply underground operation environment |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101279618A (en) * | 2007-10-24 | 2008-10-08 | 杨德智 | Crawler type multi-arm rod mobile robot |
| CN104816300A (en) * | 2015-02-16 | 2015-08-05 | 泰华宏业（天津）机器人技术研究院有限责任公司 | Swing arm type track explosive-handling robot and walking method thereof |
| CN104875798A (en) * | 2015-05-04 | 2015-09-02 | 国家电网公司 | Wheel-tracked switchable mobile robot of transformer substation |
| CN206362951U (en) * | 2016-12-06 | 2017-07-28 | 广西大学 | A kind of micro metal probe vehicles |
-
2016
- 2016-12-06 CN CN201611113441.8A patent/CN106680889A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101279618A (en) * | 2007-10-24 | 2008-10-08 | 杨德智 | Crawler type multi-arm rod mobile robot |
| CN104816300A (en) * | 2015-02-16 | 2015-08-05 | 泰华宏业（天津）机器人技术研究院有限责任公司 | Swing arm type track explosive-handling robot and walking method thereof |
| CN104875798A (en) * | 2015-05-04 | 2015-09-02 | 国家电网公司 | Wheel-tracked switchable mobile robot of transformer substation |
| CN206362951U (en) * | 2016-12-06 | 2017-07-28 | 广西大学 | A kind of micro metal probe vehicles |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109382816A (en) * | 2017-08-11 | 2019-02-26 | 中核四0四有限公司 | A kind of high radiation underground space source item investigation robot system |
| CN109382816B (en) * | 2017-08-11 | 2022-01-07 | 中核四0四有限公司 | High-radiation underground space source item investigation robot system |
| CN110901779A (en) * | 2018-09-18 | 2020-03-24 | 北京市热力集团有限责任公司 | Crawler-type waterproof inspection trolley suitable for heat supply underground operation environment |
| CN110901779B (en) * | 2018-09-18 | 2021-02-19 | 北京市热力集团有限责任公司 | Crawler-type waterproof inspection trolley suitable for heat supply underground operation environment |
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Application publication date: 20170517 |