CN108583734A - Wheel hub motor type self power generation fire-fighting fire extinguishing trailer robot - Google Patents
Wheel hub motor type self power generation fire-fighting fire extinguishing trailer robot Download PDFInfo
- Publication number
- CN108583734A CN108583734A CN201810707633.4A CN201810707633A CN108583734A CN 108583734 A CN108583734 A CN 108583734A CN 201810707633 A CN201810707633 A CN 201810707633A CN 108583734 A CN108583734 A CN 108583734A
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- CN
- China
- Prior art keywords
- trailer
- robot
- power generation
- wheel hub
- wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Manipulator (AREA)
Abstract
The present invention announces a kind of wheel hub motor type self power generation fire-fighting fire extinguishing trailer robot, belong to robot and trailer double technique field, it can be applied to the fields such as fire-fighting, explosive, lifting and military affairs, Electromagnetic generation function when dragged using trailer, while solving charge power supply problem when the continuous transition in mobile robot open air and charging time problem；Using generating function is pulled, play the role of auxiliary brake in brake and descending；The design for recycling left and right wheels power motor to work independently, is aided with the supporting role of belt wheel trailer jack, and trailer is become a mobile robot chassis, realizes remote-controlled walking；It is designed using the general deck platform of porous type on trailer, the signal plug being aided in deck platform easily installs various robot task modules, meets different function demand of the varying environment to robot.
Description
Technical field
The present invention relates to technical field of vehicle, specifically a kind of wheel hub motor type self power generation fire-fighting fire extinguishing trailer robot,
It can be applied to the fields such as fire-fighting, explosive, lifting and military affairs.
Background technology
With the fast development of economic construction of China, urbanization and process of industrialization are constantly accelerated, and robot and trailer are made
It will be commonly used for a kind of new tool.Trailer, which has, carries and disposes convenient, the big advantage of equipment weight.
But face five notable drawbacks in trailer and robot field：
1, trailer is easy to cause front truck brake failure：Driver through normally opened trailer fears downhill path and to bring to a halt very much, because
The accidents such as brake failure are extremely susceptible to, other than brake system failure to maintain, a very important factor is exactly fully loaded
Trailer can push the vehicle of front and go ahead, to generate fold back effect, cause to lose control of one's vehicle；
2, trailer is unable to autonomous：Traditional trailer itself cannot be by autonomous, it is necessary to rely on the traction of other vehicles
It can stop, autonomous parking storage is difficult；
3, outdoor state mobile robot charging is difficult：Traditional electric power type mobile robot must by fixed charging unit come
Realize charging, the quality time being generally difficult in transportational process charges when walking, in case of emergency, if be not full of
Electric energy, then what is come into operation will be the insufficient robot of energy.These robots that can not can not be charged outdoors, serious shadow
Ring the using effect of equipment；
4, robotic conveyance and handling are inconvenient：Due to traditional mobile robot, the chassis speed of travel is slower, long-distance transportation
When, it is necessary to it is consigned by other vehicles.But significant drawback that is all troublesome in the presence of handling, delaying the quality time, affect the disaster relief adversely；
5, trailer has a single function, and center of gravity is higher when transport, causes safety coefficient low：It can only be often used as means of transport purposes, not
Play the mechanical performance of trailer chassis.If transport medium-and-large-sized robot, complete machine equipment is exactly trailer chassis+robot chassis
Dual weight, not only occupied space is big, but also load-carrying is big, and center of gravity is excessively high, and contained robot is also easy to topple.
Invention content
The object of the present invention is to provide a kind of wheel hub motor type self power generation fire-fighting fire extinguishings for walking function with remote-control self to drag
The function of automatic charging is capable of outdoors in vehicle robot under traction state.And by porous modularization deck platform, and
The aviation socket of each expansion after arriving at, exempts robot in the handling procedure of trailer, directly passes through support trailer
Then jack opens robot switch, the rapid function of realizing trailer variable body robot again.In addition first above trailer robot
Plate platform belongs to generalization, modularized design, can very easily carry installation different task module, realizes various functions, full
The various needs of foot.
The invention is realized by the following technical scheme：A kind of wheel hub motor type self power generation fire-fighting fire extinguishing trailer robot, packet
Include towing bracket；The towing bracket front end is equipped with trailer connector and belt wheel trailer jack；In the both sides of towing bracket point
It She You not left wheel, right wheel；The left wheel, right wheel are connect by hanging with towing bracket respectively；
The left wheel, right wheel are connected separately with hub type motor；The hub type motor is connected with by switching relay
One motor driver and an electricity generating controller, motor driver are connected with robot controller；
Control cabinet is fixed under the towing bracket, the motor driver, robot controller, electricity generating controller are mounted on control
In case processed；
The battery case for the motor driver power supply into control cabinet is further fixed under the towing bracket；Electricity generating controller connects
Connect battery case；
The deck platform of the towing bracket offers multiple equally distributed mounting holes；Mounting hole is symmetrical or matrix form row
Row；Fire water monitor is equipped with by mounting hole in deck platform.
It is further：From the hub type motor to electricity generating controller to the circuit of battery case, it is provided with power generation and opens
It closes；The motor driver connects battery case with robot controller；The battery case is connected with charge port；The Generation Control
Device is MTTP electricity generating controllers.
The robot controller is connected with the antenna being fixed on towing bracket；The antenna is organic by being wirelessly connected
Device people's remote controler；The antenna, which includes one, to be responsible for bearing with the wireless communication antenna of Robot remote device receiving and transmitting signal and one
Audio-visual transmission antenna of the duty transmission image to Robot remote device.
The front and back side of the towing bracket is separately installed with camera.
The deck platform of the towing bracket is equipped with concave signal pit or convex signal tower；The concave signal pit or convex
Aviation socket is installed in type signal tower；The aviation socket is connected to robot controller, there are one aviation socket is also connected with
External motor driver, external motor driver are connected with robot controller.
The left wheel, right wheel are altogether equipped with a pair of, two pairs or two pairs or more.
The suspension is that independent suspension or dependent are hung.
The suspension is steel spring plate or torsion shaft.
The wheel hub motor is pm brushless in-wheel motor.
Fire water monitor is hydraulic auto-oscillation big gun.
Fire water monitor puts self power generation fire water monitor certainly.
Compared with prior art, the beneficial effects of the invention are as follows：
1, the braking quality of trailer and tractor is improved：Using the wheel hub motor type self power generation fire-fighting fire extinguishing trailer robot,
When brake, it can be closed power generation switch, the resistance generated when generating electricity using power motor improves safety to assist reducing speed
Property；
2, the present invention also has the function of descending slow drop safely：Driver through normally opened kilocalorie fears descending section very much, because of pole
It is susceptible to the accidents such as brake failure.There is brake failure or accident out of control, other than braking system failure to maintain, very
An important reason is exactly, and fully loaded trailer may push the truck of front and walk when descending, to generate fold back effect, lead
Cause lorry out of control.And the trailer electricity generation system of the present invention, then such case can be effectively taken precautions against, it, can when driver is in descending
With this set system of pre-cooling.After opening trailer power generation switch, the dynamic brake function of trailer will start, to make trailer
It slowly spaces out between lorry, to play the purpose of deceleration and stretching, as long as there is trailer to retreat in tow, headstock can be more preferable
Steering, nor the locked and skid resistance of wheel can be influenced, this for just in the driver of descending for, undoubtedly rescue
One life.
3, the short distance autonomous for realizing trailer meets the needs of position is moved in short distance after trailer stops；
4, the common outdoor charging problem of mobile robot is solved, fills function when walking when may be implemented dragged, it can not only
The energy that outdoor dragging movement generates is collected, moreover it is possible to when preciousness when the trailer robot made full use of is dragged mobile
Between.Because it is equally known that charging needs the time, this is especially valuable under nervous task environment outdoors；
5, the handling inconvenience problem for solving traditional mobile robot, exempts the lay day valuable between robot and vehicle.Solution
Except control signal (brake and the power generation switch signal of power generation switch and front truck）Connection, then with after tractor disengaging traction, put down
Belt wheel jack, then need to only open robot switch, and trailer can become a remote-controlled robot.Conversely, closing machine people
Switch, is directly connected to trailer robot with trailer connector the traction power vehicle of front, power generation switch to connecting and front truck
Control signal (brake and power generation switch signal）, realize control, you can and realize quick handling, it is rapid to shift.
6, the multifunction of trailer robot is realized：Due to using a large amount of location holes and concave signal pit or convex signal tower
Multi-functional deck technology, can trailer robot very easily be become into a mobile robot deck platform, can be in first
Various modules are arbitrarily installed on plate platform, realize the robot of modular multi-function.
7, it lowers the center of gravity, improves Transport Safety：Since trailer chassis and mobile robot chassis are combined into one, not only greatly
Trailer center of gravity is reduced greatly, is also greatly reduced complete vehicle quality, reduces accident rate of the transport caused by due to the factors such as jolt,
It achieves many things at one stroke, benefits the nation and the people.
8, present invention employs wheel hub motor scheme, have that simple in structure, complete machine parts are few, production and easy to maintenance etc.
Feature.
9, using for the present invention puts self power generation fire water monitor certainly, and hydraulic pressure, drive water wheels can be utilized when fire extinguishing
Machine rotary electrification, to generate endlessly energy supplement.
Description of the drawings
Fig. 1 is one front view of the embodiment of the present invention；
Fig. 2 is one vertical view of the embodiment of the present invention；
Fig. 3 is one dimensional structure diagram of the embodiment of the present invention；
Fig. 4 is one circuit controling drawing of the embodiment of the present invention；
Fig. 5 is that the embodiment of the present invention one installs the dimensional structure diagram after water cannon additional.
In figure：1, towing bracket；2, trailer connector；3, belt wheel trailer jack；4, left wheel；5, right wheel；6, it hangs
It hangs；7, wheel hub motor；8, control cabinet；9, battery case；10, round；11, antenna；12, concave signal pit；15, deck platform；16、
Fire water monitor.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Embodiment one
As shown in Figure 1, Figure 2, Figure 3 and Figure 4, a kind of wheel hub motor type self power generation fire-fighting fire extinguishing trailer robot, before towing bracket 1
End is equipped with trailer connector 2 and belt wheel trailer jack 3；Trailer connector 2 can be a hooklet, belt wheel trailer jack
3 may be used universal wheel.Left wheel 4, right wheel 5 are connected to the both sides of towing bracket 1 by suspension 6 respectively；Suspension 6 is independent
Suspension or dependent suspension, specifically, suspension 6 can be steel spring plate, torsion shaft etc..Left wheel 4, right wheel 5 are arranged in pairs,
Can be a pair of, two pairs or two pairs or more.
Left wheel 4, right wheel 5 are connected with wheel hub motor 7；There are one motors by switching relay connection for wheel hub motor 7
Driver and a MTTP electricity generating controller, motor driver are connected with robot controller；When switching relay does not power on, move
Force motor is connected with MTTP electricity generating controllers；When switching relay powers on, power motor is allowed to be connected with motor driver；It drags
Control cabinet 8 is fixed under kickstand 1, motor driver, robot controller, MTTP electricity generating controllers are mounted in control cabinet 8；
The battery case 9 powered for motor driver in control cabinet 8 is further fixed under towing bracket 1；MTTP electricity generating controllers connect
Battery case 9.
The front and back side of towing bracket 1 is separately installed with camera.Robot controller, which is connected with, to be fixed on towing bracket 1
Antenna 11；Antenna 11 includes a wireless communication antenna and a responsible biography being responsible for Robot remote device receiving and transmitting signal
Audio-visual transmission antenna of the defeated image to Robot remote device.Antenna 11 is by being wirelessly connected with Robot remote device.In this way, passing through
Robot remote device can realize the remote control of the spontaneous electric trailer robot of modularization.The front and back side of towing bracket 1 is taken the photograph
As head, convenient for observing when walking.
There is deck platform 15 in 1 upper surface of towing bracket, and the round 10 of matrix arrangement is offered in deck platform 15, is passed through
Round 10 with other function modules convenient for connecting, to realize other specific functions.
As shown in figure 5, fire water monitor 16 is equipped with by mounting hole 10 in deck platform 15, and after connecting water cannon, Ke Yijin
The functions such as row fire extinguishing.Fire water monitor puts self power generation fire water monitor using hydraulic auto-oscillation big gun or certainly.
1 upper surface of towing bracket is equipped with the concave signal pit 12 for installing communication interface.It can be in concave signal pit 12
Aviation socket is installed, it is consistent with 1 upper level of towing bracket after aviation socket installs, or slightly below on towing bracket 1
Surface.Alternatively, installing signal tower in 1 upper surface of towing bracket, aviation socket is installed in signal tower.Aviation socket is connected to machine
People's controller, aviation socket are also connected with there are one external motor driver.Aviation socket is used to communicate and power with function module,
Realize the multi-functional expansion of functionization of the robots function such as fire extinguishing, smoke evacuation, explosive.
Trailer robot can realize under remote control from walking function.Wireless controller receives specially in control cabinet
After the wireless control signal that antenna transmits, control signal is sent out to motor driver, then motor driver two side wheel to the left and right
Hub motor sends driving current, and wheel hub motor rotation realizes the controlled motion of wheel hub, rely on auxiliary then by directly driving mode
Belt wheel trailer jack carry out assembled machine balance, the final chassis walking for realizing robot.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of variations, modification, replace
And modification, the scope of the present invention is defined by the appended.
Claims (10)
1. a kind of wheel hub motor type self power generation fire-fighting fire extinguishing trailer robot, including towing bracket（1）；The towing bracket（1）
Front end is equipped with trailer connector（2）With belt wheel trailer jack（3）；In towing bracket（1）Both sides be respectively equipped with left wheel
（4）, right wheel（5）；The left wheel（4）, right wheel（5）Pass through suspension respectively（6）With towing bracket（1）Connection；
It is characterized in that：
The left wheel（4）, right wheel（5）It is connected separately with hub type motor（7）；The hub type motor（7）Pass through switching
There are one motor drivers and an electricity generating controller, motor driver to be connected with robot controller for relay connection；
The towing bracket（1）Under be fixed with control cabinet（8）, the motor driver, robot controller, electricity generating controller peace
Mounted in control cabinet（8）It is interior；
In the towing bracket（1）Under be further fixed on for control cabinet（8）The battery case of interior motor driver power supply（9）；Hair
Electric controller connects battery case（9）；
The towing bracket（1）Deck platform（15）Offer multiple equally distributed mounting holes（10）；Mounting hole（10）It is
Symmetrical or matrix arrangement；Deck platform（15）On pass through mounting hole（10）Fire water monitor is installed（16）.
2. wheel hub motor type self power generation fire-fighting fire extinguishing trailer robot according to claim 1, it is characterised in that：From described
Hub type motor（7）To electricity generating controller to battery case（9）Circuit in, be provided with power generation switch；The motor driver and
Robot controller connects battery case（9）；The battery case（9）It is connected with charge port；The electricity generating controller generates electricity for MTTP
Controller.
3. wheel hub motor type self power generation fire-fighting fire extinguishing trailer robot according to claim 1, it is characterised in that：The machine
Device people's controller, which is connected with, is fixed on towing bracket（1）On antenna（11）；The antenna（11）By being wirelessly connected with machine
People's remote controler；The antenna（11）It is responsible for and the wireless communication antenna of Robot remote device receiving and transmitting signal and one including one
Audio-visual transmission antenna of the responsible transmission image to Robot remote device.
4. wheel hub motor type self power generation fire-fighting fire extinguishing trailer robot according to claim 1, it is characterised in that：It is described to drag
Kickstand（1）Front and back side be separately installed with camera.
5. wheel hub motor type self power generation fire-fighting fire extinguishing trailer robot according to claim 1, it is characterised in that：It is described to drag
Kickstand（1）Deck platform（15）It is equipped with concave signal pit（12）Or convex signal tower；The concave signal pit（12）Or
Aviation socket is installed in convex signal tower；The aviation socket is connected to robot controller, and aviation socket is also associated with one
A external motor driver, external motor driver are connected with robot controller.
6. wheel hub motor type self power generation fire-fighting fire extinguishing trailer robot according to claim 1, it is characterised in that：The left side
Wheel（4）, right wheel（5）Altogether equipped with a pair of, two pairs or two pairs or more.
7. wheel hub motor type self power generation fire-fighting fire extinguishing trailer robot according to claim 1, it is characterised in that：It is described outstanding
It hangs（6）It is hung for independent suspension or dependent.
8. wheel hub motor type self power generation fire-fighting fire extinguishing trailer robot according to claim 1, it is characterised in that：It is described outstanding
It hangs（6）For steel spring plate or torsion shaft.
9. the spontaneous electric trailer of wheel hub motor type according to claim 1, it is characterised in that：The wheel hub motor be permanent magnetism without
Brush wheel hub motor.
10. fission motor-type self power generation fire-fighting fire extinguishing trailer robot according to claim 1, it is characterised in that：It is described
Fire water monitor（16）For hydraulic auto-oscillation big gun or from pendulum self power generation fire water monitor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810707633.4A CN108583734A (en) | 2018-07-02 | 2018-07-02 | Wheel hub motor type self power generation fire-fighting fire extinguishing trailer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810707633.4A CN108583734A (en) | 2018-07-02 | 2018-07-02 | Wheel hub motor type self power generation fire-fighting fire extinguishing trailer robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108583734A true CN108583734A (en) | 2018-09-28 |
Family
ID=63635417
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810707633.4A Withdrawn CN108583734A (en) | 2018-07-02 | 2018-07-02 | Wheel hub motor type self power generation fire-fighting fire extinguishing trailer robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108583734A (en) |
-
2018
- 2018-07-02 CN CN201810707633.4A patent/CN108583734A/en not_active Withdrawn
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|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180928 |
|
| WW01 | Invention patent application withdrawn after publication |