Crawler-type probe vehicle

Abstract

The invention discloses a crawler-type probe vehicle which comprises a main body frame (2), an electrical installation frame (3), an extended tripod (4) and a detection device (5). Two sides of the main body frame (2) are respectively connected with a set of track system (1); the electrical mounting frame (3) is arranged at the rear part of the main body frame (2), and the lower end and the front end of the electrical mounting frame (3) are fixedly connected with the main body frame (2); the rear end of the extended tripod (4) is fixedly connected with the front end of the main body frame (2); the detection equipment (5) is arranged at the front end of the extended tripod (4); and the main body frame (2) is made of a nylon material. The crawler-type probe vehicle is small in self magnetic interference and high in detection precision.

Description

Technical Field

[0001] The invention belongs to the technical field of special vehicles, and in particular relates to a tracked detection vehicle. Background Art

[0002] Compared with wheeled vehicles, tracked vehicles have a larger contact area, which can effectively reduce the ground pressure per unit area and avoid sinking into soft terrain. At the same time, the track system can provide better grip and stability, allowing the vehicle to overcome greater slopes and obstacles to ensure the smooth completion of the mission. Since tracked exploration vehicles can cope with various complex terrains and extreme environments, such as mud, deserts, snow and mountains, they are widely used in disaster relief, military reconnaissance, mine exploration and environmental monitoring.

[0003] It is quite dangerous to detect metal and iron packaged dangerous objects buried deep underground by manual handheld detectors, so vehicles are needed to replace manual detection. Among them, tracked vehicles can adapt to the terrain, which is conducive to field detection. However, the more sensitive the magnetic field detection instrument, the more susceptible it is to the magnetic field of magnetic materials. The existing tracked detection vehicles cannot avoid magnetism due to the limitation of power source.

[0004] Existing tracked detection vehicles, such as the Chinese invention patent application "A Small Metal Detection Vehicle" (application number: 201611113441.8, publication date: 2017.5.17), disclose a small metal detection vehicle, which includes: a vehicle body; a track wheel is provided on each side of the vehicle body, the driving wheel of the track wheel is driven to rotate by a travel drive mechanism, a carrying bottom plate, which is provided at the upper end of the vehicle body; a carrying manipulator, which includes a shoulder, and the shoulder is provided on the carrying bottom plate through a rotating mechanism. The tracked vehicle is matched with a manipulator, and the manipulator is used to carry the detection equipment for automatic walking, so as to replace manual metal detection work, thereby reducing the difficulty and danger of detection.

[0005] However, in order to ensure excellent strength and durability, the main structure of the above-mentioned tracked detection vehicle is made of high-strength and high-density alloy steel, which not only increases the weight of the vehicle body, reduces the vehicle's maneuverability, increases energy consumption, and reduces endurance, but more seriously, the alloy steel material itself is highly magnetic. At the same time, the manipulator carried on the vehicle body is also magnetic, which will interfere with the magnetic field detection equipment carried on the vehicle, seriously affecting the detection accuracy. Therefore, it is necessary to reduce the influence of magnetism by increasing the distance between the magnetic material and strengthening the isolation between the two.

[0006] Therefore, the problem existing in the prior art is that the tracked detection vehicle itself has large magnetic interference, which affects the detection accuracy. Summary of the invention

[0007] The object of the present invention is to provide a tracked detection vehicle with small self-magnetic interference and high detection accuracy.

[0008] The technical solution to achieve the purpose of the present invention is: A tracked detection vehicle comprises a main frame, an electrical installation frame, an extended tripod and a detection device; both sides of the main frame are respectively connected to a set of track systems; the electrical installation frame is placed at the rear of the main frame, and its lower end and front end are fixedly connected to the main frame; the rear end of the extended tripod is fixedly connected to the front end of the main frame; the detection device is placed at the front end of the extended tripod; the main frame is made of nylon material.

[0009] Furthermore, the interior of the main frame is connected by a mortise and tenon slot structure.

[0010] Furthermore, the electrical installation frame is formed by splicing aluminum alloy profiles.

[0011] Compared with the prior art, the present invention has the following significant advantages: 1. Low vehicle magnetism: The present invention uses non-magnetic nylon as the main body frame material of the vehicle body, and uses aluminum profiles as the electrical installation frame material. The materials of the main body frame and the electrical installation frame are non-magnetic, thereby greatly reducing the vehicle's own magnetism. A detachable tripod is added to the front end of the vehicle to install the detection instrument, while increasing the distance between the magnetic field source and the detection instrument, reducing the magnetic interference to the detection equipment and improving the detection accuracy; at the same time, the components that may generate magnetic interference, such as the drive motor and the power supply, are placed in the electrical installation frame, and a shielding copper mesh is set between the electrical equipment and the detection equipment, thereby further reducing the magnetic interference to the detection equipment; 2. Light vehicle weight: The present invention uses nylon material with a density of only about one-sixth of that of alloy steel as the main body frame material of the vehicle body, which greatly reduces the weight of the vehicle body, is beneficial to increase vehicle maneuverability, reduce energy consumption, and improve endurance.

[0012] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram of the appearance structure of the crawler type detection vehicle of the present invention.

[0014] Figure 2 yes Figure 1 Schematic diagram of the appearance structure of the middle crawler system.

[0015] Figure 3 yes Figure 2 Structural details of the center hub.

[0016] Figure 4 yes Figure 1Schematic diagram of the appearance structure of the main frame and electrical installation frame.

[0017] In the figure, 1 track system, 2 main frame, 3 electrical installation frame, 4 extended tripod, 5 detection equipment, 11 load-bearing wheel, 12 track roller, 13 tensioning wheel, 14 tensioning screw, 15 wheel fixing plate, 16 ceramic bearing, 17 track side plate, 18 driving wheel, 19 rubber track, 21 frame cover, 31 copper wire mesh, 32 aluminum fixing parts, 33 electrical cover, 34 antenna fixing frame. DETAILED DESCRIPTION

[0018] like Figure 1 As shown, the crawler detection vehicle of the present invention includes two sets of crawler systems 1, a main frame 2, an electrical installation frame 3, an extended tripod 4, and a detection device 5.

[0019] Both sides of the main frame 2 are connected to a set of crawler systems 1 respectively; The electrical installation frame 3 is placed at the rear of the main frame 2, and its lower end and front end are fixedly connected to the main frame 2; The rear end of the extended tripod 4 is fixedly connected to the front end of the main frame 2; The detection device 5 is placed at the front of the upper end of the extended tripod 4 .

[0020] The outer side of the crawler track system 1 is usually provided with crawler track side plates.

[0021] A frame cover 21 may be provided on the upper portion of the main frame 2 .

[0022] An electrical cover may be provided on the upper portion of the electrical installation frame 3 .

[0023] An antenna fixing frame is fixedly arranged at the rear end of the electrical installation frame 3 to fix the antenna. Various electrical devices are placed in the electrical installation frame 3, including a drive motor, a power supply, a control circuit, etc.

[0024] like Figure 2 As shown, the primary improvement of the present invention is that the main frame 2 is made of nylon material.

[0025] To reduce the vehicle's own magnetism and reduce the weight of the vehicle body, nylon material is simpler to process than metal materials, has a short processing cycle and lower cost.

[0026] As a further improvement, the main frame 2 of nylon material is connected by mortise and tenon slots to form its own frame. Compared with the normal plate connection method using nylon bolts, the mortise and tenon slots expand the extrusion area and shear area during movement, avoid the loosening risk caused by the shear bolts, and enhance the overall rigidity of the mechanism.

[0027] As an improvement, the connection between the two sides of the main frame 2 and the crawler system 1 also adopts mortise and tenon groove connection.

[0028] The connecting part of the main frame 2 and the crawler system 1 is subjected to a considerable force, and the nylon bolt connection cannot withstand such a force. The connection can only be made by passing the main beam through the slot of the wheel fixing plate 15 and fixing it with a wedge block. In this connection method, the force of the connecting part is completely borne by the entire main beam, and the connection surface will not be damaged.

[0029] As an improvement, the electrical installation frame 3 is made of aluminum alloy profile.

[0030] On the one hand, it can reduce the vehicle's own magnetism and reduce the weight of the vehicle body. Compared with square steel welding, which will lead to poor positioning accuracy, aluminum alloy profiles can be pre-processed to set countersunk holes and threaded positioning matches. When combined with aluminum angle fittings, higher installation accuracy can be achieved. The strength can also be further improved by performing additional welding after installation.

[0031] As an improvement, a copper wire mesh 31 is provided between the front end of the electrical installation frame 3 and the main frame 2 .

[0032] The copper wire mesh 31 can isolate the magnetism of the electrical equipment placed in the electrical installation frame 3 from the front of the main frame 2 , thereby reducing its magnetic interference to the front-end detection device 5 .

[0033] like Figure 3 As shown, as an improvement, the crawler system 1 of the crawler type detection vehicle of the present invention comprises: The wheel fixing plate 15 is placed vertically, and a plurality of slots are provided on the wheel fixing plate 15 for connecting with the side ends of the main frame 2. The side ends of the main frame 2 are inserted into the slots to achieve the connection between the main frame 2 and the crawler system 1.

[0034] A plurality of load-bearing wheels 11 are arranged in parallel at the lower end of the wheel fixing plate 15 , a driving wheel 18 is arranged at the upper rear end thereof, a tensioning wheel 13 is arranged at the upper front end thereof, and a belt support wheel 12 is arranged between the driving wheel 18 and the tensioning wheel 13 .

[0035] The tension wheel 13 is connected to the upper front end of the wheel fixing plate 15 through a tensioning screw 14 and can move forward and backward as needed.

[0036] The driving wheel 18 is used as a power source, and its input shaft is connected to the output shaft of the reduction mechanism. The reduction mechanism is connected to the motor. This is a conventional arrangement, and the motor and the reduction mechanism are not shown in the figure.

[0037] The rubber crawler track 19 is wound around the driving wheel 18, the support wheel 12, the tension wheel 13 and the outer side of the load-bearing wheel 11. The crawler track can be tightened by moving the tension wheel 13 forward. Driven by the driving wheel 18, the crawler track rotates, driving the crawler type detection vehicle to move.

[0038] The structures of the support roller 12 and the load-bearing roller 11 are similar. The load-bearing roller 11 will be taken as an example for explanation.

[0039] like Figure 4 As shown, the load-bearing wheel 11 includes a wheel axle 111, a bearing 112 and two belt-pressing rollers 113. The bearing 112 is mounted in the middle of the axle 111 and can rotate around the axle 111. The two belt-pressing rollers 113 are respectively mounted on both ends of the wheel shaft 111 and are fixedly connected to the wheel shaft 111. The inner end surfaces of the two belt-pressing rollers 113 are opposite to each other, forming a groove for accommodating the cross section of the inner teeth of the crawler belt.

[0040] In the prior art, the inner end faces of the two belt-pressing rollers 113 facing each other are both planes. This structure brings about the following problems: the edge of the belt-pressing roller with a plane inner end face is at a right angle of 90 degrees, and the inner teeth of the track have an inclination. During operation, due to vibration, the edge of the belt-pressing roller will be pressed against the side of the inner teeth of the track in a line contact manner. While continuing to rotate, the belt-pressing roller will move upward along the slope of the inner teeth until the track is separated from the belt-pressing roller.

[0041] Another improvement of the present invention is: The inner end faces of the two belt-pressing rollers 113 are provided with inclined surfaces near the outer periphery. Thus, the inner end faces of the two belt-pressing rollers 113 are in the shape of a circular boss with a central portion protruding inward.

[0042] As a further preferred solution, the inclined surfaces of the inner end surfaces of the two belt-pressing rollers 113 that are opposite to each other and close to the outer periphery are parallel to the inner tooth side surfaces of the track.

[0043] This structure can make the side of the wheel fit better with the inner teeth of the track. When encountering vibration during operation, when the track roller is raised relative to the track height, the edge of the track roller is parallel to the inclined surface of the inner teeth of the track, and no shear force is generated. This causes the raised track roller to fall along the inclined surface, thereby reducing or avoiding the occurrence of track falling off.

[0044] The bearing 112 is made of ceramic material.

[0045] Ceramic bearings are resistant to high temperatures, corrosion and high strength, which can improve the adaptability of vehicles and extend their life.

[0046] The extended tripod 4 is made of nylon or PVC material, thereby avoiding magnetic interference caused by steel. The slot design at the rear end of the tripod is convenient for disassembly and assembly, which relatively reduces the volume of the vehicle and is more convenient for transportation. The additional length allows the detection equipment to be further away from the magnetic field source, reducing the impact of the magnetic field on the detection equipment.

Claims

1. A crawler detection vehicle, comprising a main frame (2), an electrical installation frame (3), an extended tripod (4) and a detection device (5); both sides of the main frame (2) are connected to a set of crawler systems (1); the electrical installation frame (3) is placed at the rear of the main frame (2), and its lower end and front end are fixedly connected to the main frame (2); the rear end of the extended tripod (4) is fixedly connected to the front end of the main frame (2); the detection device (5) is placed at the front end of the extended tripod (4); the characteristics are: The main frame (2) is made of nylon material.

2. The crawler detection vehicle according to claim 1, characterized in that: The main frame (2) is internally connected by a mortise and tenon slot structure.

3. The crawler detection vehicle according to claim 1, characterized in that: The electrical installation frame (3) is formed by splicing aluminum alloy profiles.

4. The crawler detection vehicle according to claim 3, characterized in that: A copper wire mesh (31) is fully paved between the electrical installation frame (3) and the main frame (2).

5. The crawler detection vehicle according to claim 1, characterized in that: The track system (1) comprises a wheel fixing plate (15) placed vertically, a plurality of load-bearing wheels (11) are arranged in parallel at the lower part of the wheel fixing plate (15), a driving wheel (18) is arranged at the upper rear end thereof, a tensioning wheel (13) is arranged at the upper front end thereof, a support wheel 12 is arranged between the driving wheel (18) and the tensioning wheel (13), and a rubber track (19) is circumferentially wound around the outer sides of the driving wheel (18), the support wheel (12), the tensioning wheel (13) and the load-bearing wheel (11).

6. The crawler detection vehicle according to claim 5, characterized in that: The wheel fixing plate (15) is provided with a plurality of slots for connecting with the side ends of the main frame (2).

7. The crawler detection vehicle according to claim 5, characterized in that: The load-bearing wheel (11) comprises a wheel axle (111), a bearing (112) and two belt-pressing rollers (113); the bearing (112) is mounted on the middle of the wheel axle (111) and can rotate around the wheel axle (111); the two belt-pressing rollers (113) are respectively mounted on both ends of the wheel axle (111) and are fixedly connected to the wheel axle (111); and the relative inner end surfaces of the two belt-pressing rollers (113) are provided with inclined surfaces close to the outer periphery.

8. The crawler-type detection vehicle according to claim 7, characterized in that: The inclined surface of the belt-pressing wheel (113) close to the outer periphery is parallel to the inner tooth side surface of the track.

9. The crawler-type detection vehicle according to claim 7, characterized in that: The bearing (112) is made of ceramic material.

10. The crawler detection vehicle according to claim 1, characterized in that: The extended tripod (4) is made of nylon or PVC material.

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