CN108725627A - The seperated spontaneous electric trailer robot of motor-type - Google Patents
The seperated spontaneous electric trailer robot of motor-type Download PDFInfo
- Publication number
- CN108725627A CN108725627A CN201810707117.1A CN201810707117A CN108725627A CN 108725627 A CN108725627 A CN 108725627A CN 201810707117 A CN201810707117 A CN 201810707117A CN 108725627 A CN108725627 A CN 108725627A
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- China
- Prior art keywords
- robot
- motor
- trailer
- towing bracket
- fission
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- 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
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- 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
- B62D63/06—Trailers
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Manipulator (AREA)
Abstract
The present invention announces a kind of spontaneous electric trailer robot of seperated motor-type, 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, the spontaneous electric trailer robot of specifically a kind of fission motor-type 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 spontaneous electric trailer robot of seperated motor-type of function being walked with remote-control self the object of the present invention is to provide a kind of,
It is capable of the function of automatic charging under traction state outdoors.And pass through porous modularization deck platform and each expansion
Aviation socket, after arriving at, exempt robot trailer handling procedure, directly by support trailer jack,
Then robot switch, the rapid function of realizing trailer variable body robot are opened again.In addition trailer robot overlying decks platform
Belong to generalization, modularized design, can very easily carry installation different task module, realize various functions, meet various
It needs.
The invention is realized by the following technical scheme：A kind of spontaneous electric trailer robot of fission motor-type, including trailer branch
Frame；The towing bracket front end is equipped with trailer connector and belt wheel trailer jack；It is respectively equipped with a left side in the both sides of towing bracket
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 speed reducer；The speed reducer is connected with brushless motor；The brushless motor is logical
Crossing the connection of switching relay, there are one motor drivers and an electricity generating controller, motor driver to be connected with robot control
Device；
Control cabinet, the motor driver, robot controller, the installation of MTTP electricity generating controllers are fixed under the towing bracket
In control cabinet；
The battery case powered for motor driver in control cabinet is further fixed under the towing bracket；Electricity generating controller connects
Battery case.
It is further：In from the brushless motor to electricity generating controller to the circuit of battery case, it is provided with power generation switch；
The motor driver connects battery case with robot controller；The battery case is connected with charge port；The electricity generating controller
For 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 offers multiple equally distributed mounting holes；Mounting hole is symmetrical or matrix
Formula arranges.
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 signal tower；The aviation socket is connected to robot controller, and aviation socket is also connected with that there are one right
Outer 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 brushless motor is permanent magnetic brushless.
Compared with prior art, the beneficial effects of the invention are as follows：
1, the braking quality of trailer and tractor is improved：It can be closed in brake using the spontaneous electric trailer robot of the modularization
Power generation switch is closed, the resistance generated when generating electricity using power motor improves safety to assist reducing speed；
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+speed reducer+motor scheme, have that parts are at low cost, complete machine maintenance cost is low, electric
The features such as machine impact resistance is strong.
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 upward view of the embodiment of the present invention；
Fig. 5 is one circuit controling drawing of the embodiment of the present invention.
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；8, control cabinet；9, battery case；10, round；11, antenna；12, concave signal pit；13, brushless motor；14, slow down
Machine；15, deck platform.
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, shown in Fig. 3, Fig. 4 and Fig. 5, a kind of fission motor-type spontaneous electric 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.
Wheel 4, right wheel 5 are connected to speed reducer 14 respectively, and speed reducer 14 is connected with brushless motor 13；Brushless motor 13 passes through
There are one motor drivers and a MTTP electricity generating controller, motor driver to be connected with robot control for the connection of switching relay
Device；When switching relay does not power on, power motor is connected with MTTP electricity generating controllers；Switching relay is when powering on, and allows power
Motor is connected with motor driver；Control cabinet 8, motor driver, robot controller, MTTP are fixed under towing bracket 1
Electricity generating controller is mounted in control cabinet 8；It is further fixed under towing bracket 1 for motor driver power supply in control cabinet 8
Battery case 9；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；For example, after connection water cannon, can put out a fire
Etc. functions.
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 to the left and right both sides without
Brush motor sends driving current, realizes the controlled motion of wheel hub, relies on the belt wheel trailer jack of auxiliary to carry out assembled machine balance, most
The chassis walking of robot is realized eventually.
When trailer robot is in the state of dragged：
Brushless motor generates magnetic field, and then generate voltage and current, passes through power generation in dragged traction and when reaching certain speed
The MTTP automatic liftings of controller press technology, realize spontaneous electrical function, and be stored in battery case.
Trailer robot from walking states and dragged converted by relay：
After the power supply opening of trailer robot, the coil of relay is by electricity, and contact is attracted, and brushless motor connects motor driver,
Trailer robot is in and awaits orders from walking states；
After the power supply of trailer robot is closed, the coil losing electricity of relay, contact rebound, brushless motor connects MTTP controllers can
To realize power generation.
The present invention detaches motor with wheel hub, with wheel parts are at low cost, complete machine maintenance cost is low, motor impact resistance
The features such as strong.
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 (8)
1. a kind of spontaneous electric trailer robot of fission motor-type, 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 speed reducer（14）；The speed reducer（14）It is connected with brushless motor
（13）；The brushless motor（13）By switching relay connection, there are one motor driver and an electricity generating controller, motors
Driver is connected with robot controller；
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）.
2. the spontaneous electric trailer robot of fission motor-type according to claim 1, it is characterised in that：From the brushless motor
（13）To electricity generating controller to battery case（9）Circuit in, be provided with power generation switch；The motor driver and robot control
Device connects battery case（9）；The battery case（9）It is connected with charge port；The electricity generating controller is MTTP electricity generating controllers.
3. the spontaneous electric trailer robot of fission motor-type according to claim 1, it is characterised in that：The robot control
Device, which is connected with, is fixed on towing bracket（1）On antenna（11）；The antenna（11）By being wirelessly connected with Robot remote device；
The antenna（11）It is responsible for being responsible for transmission figure with the wireless communication antenna of Robot remote device receiving and transmitting signal and one including one
Audio-visual transmission antenna as arriving Robot remote device.
4. the spontaneous electric trailer robot of fission motor-type according to claim 1, it is characterised in that：The towing bracket
（1）Front and back side be separately installed with camera.
5. the spontaneous electric trailer robot of fission motor-type according to claim 1, it is characterised in that：The towing bracket
（1）Deck platform（15）Offer multiple equally distributed mounting holes（10）；Mounting hole（10）It is symmetrical or matrix form row
Row.
6. the spontaneous electric trailer robot of fission motor-type according to claim 1, it is characterised in that：The towing bracket
（1）Deck platform（15）Equipped with concave signal pit（12）Or convex signal tower；The concave signal pit（12）Or convex signal
Aviation socket is installed in tower；The aviation socket is connected to robot controller, and aviation socket is also connected with that there are one to dispatch from foreign news agency
Machine driver, external motor driver are connected with robot controller.
7. the spontaneous electric trailer robot of fission motor-type according to claim 1, it is characterised in that：The left wheel（4）,
Right wheel（5）Altogether equipped with a pair of, two pairs or two pairs or more.
8. the spontaneous electric trailer robot of fission motor-type according to claim 1, it is characterised in that：The brushless motor
（13）For permanent magnetic brushless.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810707117.1A CN108725627A (en) | 2018-07-02 | 2018-07-02 | The seperated spontaneous electric trailer robot of motor-type |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810707117.1A CN108725627A (en) | 2018-07-02 | 2018-07-02 | The seperated spontaneous electric trailer robot of motor-type |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108725627A true CN108725627A (en) | 2018-11-02 |
Family
ID=63925637
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810707117.1A Withdrawn CN108725627A (en) | 2018-07-02 | 2018-07-02 | The seperated spontaneous electric trailer robot of motor-type |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108725627A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118205483A (en) * | 2024-05-22 | 2024-06-18 | 潍坊埃锐制动系统有限公司 | Intelligent alarm indicating system of electric motor home walking device |
-
2018
- 2018-07-02 CN CN201810707117.1A patent/CN108725627A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118205483A (en) * | 2024-05-22 | 2024-06-18 | 潍坊埃锐制动系统有限公司 | Intelligent alarm indicating system of electric motor home walking device |
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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 | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20181102 |