CN103465787A - Intrinsically safe robot motion platform - Google Patents
Intrinsically safe robot motion platform Download PDFInfo
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- CN103465787A CN103465787A CN201310441919XA CN201310441919A CN103465787A CN 103465787 A CN103465787 A CN 103465787A CN 201310441919X A CN201310441919X A CN 201310441919XA CN 201310441919 A CN201310441919 A CN 201310441919A CN 103465787 A CN103465787 A CN 103465787A
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Abstract
The invention discloses an intrinsically safe robot motion platform, which comprises a robot body, traveling devices, a signal control system and a power system, wherein the power system comprises more than two motor modules and corresponding signal control devices; each motor module consists of a motor, a power supply module and a signal module; control modules are connected with the signal modules through isolation devices to form the signal control system. According to the intrinsically safe robot motion platform, the number and the relative positions of the motor modules can be changed to regulate the driving capability of the power system and the shape of a robot, and the requirement of intrinsic safety can be met by the power system; mechanical force generated by the power system acts on a traveling system, and is converted into power for the advancing or the obstacle crossing of the robot platform through the acting force and the reacting force of the traveling devices and the ground.
Description
Technical field
The invention belongs to rescue investigation field of tool, be specifically related to a kind of essential safe type robot movement platform that is applicable to have under dangerous explosive atmosphere certain maneuverability.
Background technology
In disaster relief, the application scenario such as fire-fighting is explosive, environment of living in is flammable explosive gas abrim often, liquid or dust etc., the electrical equipment therefore used under these environment, explosion-proof security is the prerequisite an of necessity.According to GB GB 3846 " explosive atmosphere ", the explosion-proof type of current electric apparatus for explosive atmospheres has several.Wherein, the essential safe type " i " of GB GB 3846.4 defineds is a kind of type of explosion proof construc tion of electrical equipment, and it is by realizing explosion-proof by device interior and the issuable electro spark of connection wire or the calorific effect energy limited that are exposed to potential explosive border in the level that can not light.The heavy flameproof enclosure of needs not when the electrical equipment that meets the intrinsic safety type requirement is applied under explosive atmosphere, so volume is little, lightweight, be easy to carry and move, there are a lot of advantages.
The essential safe type protection class " ia " of take is example, when equipment requirement applies fault in worst situation, comprises short circuit and while opening circuit, the electro spark produced and calorific effect energy can not cause to be lighted.This is substantially that the electric power of maximum has everywhere applied restriction to system.At present, can meet the electrical equipment of essential safe type requirement, monomer whose power maximum can only be accomplished several watts to tens watts.Simultaneously, for the power supply of giving the power supply of essential safety equipment, also must meet identical security requirement, output power is received restriction.
On the other hand, under explosive atmosphere, search for, survey, the robot platform of the disaster relief, except needs have certain capacity weight.Also needing has stronger locomitivity, particularly, such as down-hole, under the application scenarios such as disaster scene, due to circumstance complication, requires robot platform to move on uneven ground.At present, have the robot product of stronger obstacle climbing ability and model machine a lot, but the maneuverability of these robot platforms all depends on heavy-duty motor, power can reach several hectowatts, does not obviously meet the requirement of intrinsically safe equipment.Some robots adopt multiple electric motors, the scheme of individual drive, although can reduce like this monomer power of motor, the requirement that distance meets essential safe type still has suitable distance, and reason is as follows:
1. motor monomer power is still bigger than normal, is at least tens watts;
2. power pack is still centralized or is halfway grouping stand alone type, and the power that single power supply is exported (comprises short circuit and open circuit) that requirement is above standard when applying the least favorable fault;
3. in order to control conveniently, the control signal of each electric motor units is by the intercommunication of bus driver unit.Simultaneously, unimpeded in order to guarantee signal, power supply exists altogether.When applying the least favorable fault, multiunit electric power is stack mutually likely.
Due to above-mentioned these reasons, current mobile robot platform can't be taken into account stronger locomitivity when meeting the code requirement of essential safe type.
Summary of the invention
For the max power constraint that solves intrinsic safety type equipment and the contradiction between robot motion's ability, the present invention proposes a kind of essential safe type robot movement platform, is meeting the effective lifting that realizes locomitivity under the prerequisite that essential safety requires.
Technical scheme of the present invention is as follows:
A kind of essential safe type robot movement platform, comprise the robot body, running gear, whistle control system and power system; The robot body, for holding and running gear, whistle control system, power system being installed and keeping fixing of relative position between running gear, whistle control system, power system, is characterized in that:
Described power system comprises two or more motor modules, and mutual electrical isolation between each motor module, and each motor module comprises a motor, a power system supply module;
Wherein, each supply module in described power system only provides required power supply to the motor module at its place, the output of motor is connected with corresponding running gear, provide torque to corresponding running gear, by application force and the antagonistic force on running gear and ground, convert that robot platform advances or the power of obstacle detouring to;
Described whistle control system comprises signal path, control module, whistle control system supply module and signaling module, and described signaling module is connected on the control signal path through isolating device, and finally with control module, is connected by signal path;
Control module in whistle control system couples together by motor and power system in isolating device, signaling module, power system, and the control command that the control module in described signaling module reception whistle control system sends is controlled the operation of its corresponding motor.
The present invention can also change the quantity of motor module and position each other, carrys out the shape of power-handling capability and the robot of motivation of adjustment system.When motor module maximum power one timing adopted, the quantity of motor module is more, and the gross horsepower of system and power-handling capability are just stronger.The mechanical force that power system produces acts synergistically on running gear, by the effect on running gear and ground, converts that robot platform advances or the power of obstacle detouring to.
Meet the essential safety requirement in order to meet the robot platform complete machine, each electric and electronic assembly of system must meet the code requirement of essential safe type.Specifically, in each motor module, the output power of supply module is limited by current limiting device, applies worst fault outside supply module, and in short circuit or intermittent situation about opening circuit, its current-voltage characteristic meets the essential safe type requirement.Signaling module in each motor module is connected with control module by isolating device, thereby electric power can not produce stack, reaches the purpose of electrical isolation.Each motor module is installed, is reserved the modes such as fixing clearance, object partition by dispersion and realizes physical isolation.Realize that physical isolation and physically-isolated a plurality of motor module can regard a plurality of autonomous devices as.Under the prerequisite that meets the essential safety requirement, the gross horsepower of a plurality of autonomous devices is compared individual equipment and is increased exponentially.When the mechanical force that the power system formed when these motor modules produces acts synergistically on running gear, can be so that the locomitivity of complete machine significantly improves.In addition, in the whistle control system of robot platform, control module and corresponding supply module thereof meet the essential safety requirement, the monomer of each signaling module meets the essential safety requirement, owing to using isolating device to be connected between control module and a plurality of signaling module, so the electric current on a plurality of signaling modules can not introduced signal path or control module produces stack, therefore whole whistle control system meets the essential safety requirement.
Due to the application of foregoing invention scheme, bring following advantage:
1. the present invention adopts distributed power source and dynamic design, can effectively realize electric power is distributed to system everywhere, has avoided producing large electric current or high potential in part, has high security.Adopting isolating device between control module and between each motor module, thereby the electric power of each motor module can not superpose when fault occurs, and meets the requirement of essential safety.
2. due to physics and electric mutual isolation between each motor module in system, so can regard autonomous device as.The quantity of equipment is not subject to essential safety to require restriction.The mechanical force produced due to motor module again acts synergistically on running gear, common drive machines human body, thereby at each motor module, meet under the prerequisite of essential safety requirement, propulsive effort obtains and is multiplied, and has stronger motion and obstacle climbing ability.
The accompanying drawing explanation
Fig. 1 is that the system of whole essential safe type robot movement platform forms schematic diagram;
Fig. 2 is the implementation of a class of the whistle control system of essential safe type robot movement platform;
Fig. 3 is the another kind of implementation of the whistle control system of essential safe type robot movement platform;
Fig. 4 is the another kind of implementation of the whistle control system of essential safe type robot movement platform;
Fig. 5 is the another kind of implementation of the whistle control system of essential safe type robot movement platform;
Fig. 6 is the implementation of a class of the motor module of essential safe type robot movement platform;
Fig. 7 is the another kind of implementation of the motor module of essential safe type robot movement platform;
Fig. 8 is the another kind of implementation of the motor module of essential safe type robot movement platform;
Fig. 9 is the another kind of implementation of the motor module of essential safe type robot movement platform;
Figure 10 is three kinds of implementations of the running gear of essential safe type robot movement platform;
Figure 11 is whistle control system, the motor module of essential safe type robot movement platform, a kind of array configuration of running gear;
Figure 12 is whistle control system, the motor module of essential safe type robot movement platform, the another kind of array configuration of running gear;
Figure 13 is whistle control system, the motor module of essential safe type robot movement platform, the another kind of array configuration of running gear;
Figure 14 is the structure pictorial diagram of a kind of implementation of essential safe type robot movement platform system, the axle such as from left to right is followed successively by and surveys view, birds-eye view;
Figure 15 is the structure pictorial diagram of the another kind of implementation of essential safe type robot movement platform system, the axle such as from left to right is followed successively by and surveys view, birds-eye view;
Figure 16 is the structure pictorial diagram of the another kind of implementation of essential safe type robot movement platform system, the axle such as from left to right is followed successively by and surveys view, birds-eye view.
Specific implementation method
The given example below in conjunction with accompanying drawing, describe the specific embodiment of the present invention in detail
Fig. 1 is that the system of the disclosed whole essential safe type robot movement platform of the application forms schematic diagram, and the essential safe type robot movement platform comprises robot body 10, running gear 31, whistle control system 11 and power system; Robot body 10 is for holding and running gear 31, whistle control system 11, power system being installed and keeping the fixing of relative position between running gear 31, whistle control system 11, power system.Described power system comprises two or more motor modules 21, and mutual electrical isolation between each motor module, and each motor module 21 comprises a motor 212, a power system supply module 211; Wherein, 211 motor modules to its place of each supply module in described power system provide required power supply, the output of motor 212 is connected with corresponding running gear 31, provide torque to corresponding running gear 31, by application force and the antagonistic force on running gear 31 and ground, convert that robot platform advances or the power of obstacle detouring to.Described whistle control system 11 comprises signal path 112, control module 111, whistle control system supply module 114 and signaling module 201, described signaling module 201 is connected on control signal path 112 through isolating device 113, and finally with control module 111, is connected by signal path 112; Control module 111 in whistle control system 11 couples together by motor in isolating device 113, signaling module 201, power system 212 and power system, and the control command that the control module 111 in described signaling module 201 reception whistle control systems 11 sends is controlled the operation of its corresponding motor 212.Wherein, described isolating device 113 is for stoping device or the system mutually imported from motor module 21 and whistle control system 11 electric currents, and the pattern of employing includes but not limited to optically-coupled signal path, magnetic coupling signal path, wireless coupling path etc.
Fig. 2, Fig. 3, Fig. 4, Fig. 5 are several implementations of whistle control system.
In Fig. 2 implementation, using wireless device as the division of system, left-side signal path 112, supply module 114, control module 111, isolating device 113, signaling module 201, supply module 211 are installed in robot body.With signal path 112 link control module successively 111, isolating device 113, signaling module 201; With 114 pairs of control modules 111 of supply module, isolating device 113, powered; 211 pairs of signaling modules 201 of supply module are powered.Right-side signal path 112, supply module 114, control module 111 are placed in handheld terminal.Control module 111 connects signaling module by signal path 112, and supply module 114 is powered to it.
Implementation and Fig. 2 of Fig. 3 are similar, and difference is that wireless device is substituted by wired mode.
Fig. 4 adopts distributed control, and its implementation and Fig. 2 are similar, and for the processing data burden that reduces control module 111 has increased sub-control module for it, the controlled module 111 of sub-control module is controlled, and it is connected between isolating device and control module.
Fig. 5 due to adopt wireless coupling mode and controller itself can be used as signaling module and use, therefore, in this implementation, wireless mode has played system and has formed signal path in schematic diagram and the effect of isolating device.In specific implementation, with corresponding control modules 111 power supplies of 114 pairs of each supply modules, the realization of right side module with Fig. 2 realize identical.
Their common feature is: control module 111 produces control signal, by signal path 112, be transferred on signaling module 201, be added in isolating device 113 between control module 111 and signaling module 201 for the current delivery that prevents signaling module 201 to signal path 112.On specific implementation, signal path can be wired mode, as Fig. 3; Can be also wireless mode, as shown in Fig. 2, Fig. 4, Fig. 5.In order to control convenient or conveniently to realize complicated function can also adding some grades of control modules between control module 111 and signaling module 201, as shown in Fig. 2, Fig. 3, Fig. 4, Fig. 5.When signal path is wireless mode, due to the wireless mode of signal path, blocked may be from the electric current of signaling module, thus exist natural isolation, in this case, isolating device 113 can not be present in actual device, as a separate part as shown in Figure 5.In addition, when having the Multistage Control module, the control module of afterbody can directly be controlled motor, in this case, the function of signaling module 201 is replaced by the afterbody control module, and signaling module 201 can not be present in actual device as a separate part yet.
Fig. 6, Fig. 7, Fig. 8, Fig. 9 are several implementations of motor module.In the implementation of Fig. 6, motor 212 is connected to signaling module 201.In the time of can not meeting the accurate control of motor for signaling module, can be in motor module the access control module to meet the accurate control of motor or to realize complicated function, as shown in Figure 7.In the implementation of Fig. 7, with signal path, control module and signaling module are connected to 201 and connect, then motor module is connected to control module.Use for wireless coupling mode and controller itself, can be used as signaling module, can directly motor be connected to control module so; As shown in Figure 8.In the implementation of Fig. 9, signaling module 201 can be realized with wireless mode, in order to realize accurately controlling or realizing all right access control module of complicated function; Control module is connected to signaling module 201, motor module is connected to control module.
The common feature of these implementations is: signaling module 201 is accepted control signal, motor 212 starts, cuts out, changes to the controls such as running state.Supply module 211 provides electric energy for the running of motor 212.The signal of input signal module 201 can be wired mode, as shown in Fig. 6, Fig. 7, Fig. 8; Can be also wireless mode, as shown in Figure 9.Between signaling module and motor module, in order accurately to control or conveniently realize some functions, also can the access control module, as shown in Fig. 7, Fig. 8, Fig. 9.On particular hardware realizes, the function that control module can integrated signal module 201, in this case, signaling module 201 can not be present in actual device, as a separate part as shown in Figure 8 yet.
The example that Figure 10 is three kinds of running gears, be respectively circular conventional wheel, circular eccentric wheel, Multi-impeller.Circular conventional wheel is common in the general vehicle, advantage be operate steadily, travel efficiency is high.Although circular eccentric wheel is also circular, axle drive shaft departs from the center of circle, with respect to circular conventional wheel, has better obstacle climbing ability.The wheel body of Multi-impeller is shaped as Multiblade, also has obstacle climbing ability preferably.
Figure 11, Figure 12, Figure 13 have provided several array configurations of whistle control system, motor module, running gear.The object construction figure of system is as shown in Figure 14, Figure 15, Figure 16.Wherein, robot body 10 is " mouth " glyph framework structure, and running gear 31, whistle control system 11, a plurality of motor module 21 all are installed on robot body 10, and what rely on body between a plurality of motor modules rigidly fixes the certain physical distance of mutual maintenance.Each motor module 21 connects a running gear 31 by speed reduction gearing, and the moment of torsion that the speed reduction gearing generation strengthens drives running gear 31 rotations, makes robot platform obtain the propulsive effort advanced with obstacle detouring.
Claims (6)
1. an essential safe type robot movement platform, comprise robot body (10), running gear (31), whistle control system (11) and power system; Wherein, robot body (10) is for holding and running gear (31), whistle control system (11), power system being installed, and, for keeping the fixing of relative position between running gear (31), whistle control system (11), power system, it is characterized in that:
Described power system comprises two or more motor modules (21), and mutual electrical isolation between each motor module, and each motor module (21) comprises a motor (212), a power system supply module (211);
Wherein, each supply module (211) in described power system only provides required power supply to the motor module at its place, the output of motor (212) is connected with corresponding running gear (31), provide torque to corresponding running gear (31), by application force and the antagonistic force on running gear (31) and ground, convert that robot platform advances or the power of obstacle detouring to;
Described whistle control system (11) comprises signal path (112), control module (111), whistle control system supply module (114) and signaling module (201), it is upper that described signaling module (201) is connected to control signal path (112) through isolating device (113), and finally with control module (111), be connected by signal path (112); In described whistle control system (11), supply module (114) only provides required power supply to control module (111);
Control module (111) in whistle control system (11) couples together by motor (212) in isolating device (113), signaling module (201), power system and power system, and the control command that the control module (111) in described signaling module (201) reception whistle control system (11) sends is controlled the operation of its corresponding motor (212).
2. essential safe type robot movement platform according to claim 1 is characterized in that: described isolating device (113) is for stoping device or the system mutually imported from motor module (21) and whistle control system (11) electric current.
3. essential safe type robot movement platform according to claim 2, it is characterized in that: described isolating device (113) includes but not limited to optically-coupled signal path, magnetic coupling signal path, wireless coupling path etc.
4. essential safe type robot movement platform according to claim 1, it is characterized in that: in each motor module (21), the output power of supply module (211) is limited by current limiting device, outside supply module, apply under worst fault, its current-voltage characteristic still can meet the essential safety requirement.
5. essential safe type robot movement platform according to claim 1, it is characterized in that: in whistle control system (11), control module (111) and corresponding supply module (114) thereof meet the essential safety requirement, and the monomer of each signaling module (201) meets the essential safety requirement.
6. essential safe type robot movement platform according to claim 1 is characterized in that:
Described running gear (31) adopts the pattern of circular conventional wheel, circular eccentric wheel or Multi-impeller.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104118489A (en) * | 2014-08-14 | 2014-10-29 | 中煤科工集团重庆研究院有限公司 | Mining intrinsic safety robotic explorer based on eccentric wheel and leg type combination |
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