CN108773429A - The trailer robot of the spontaneous electric gas/liquid pressure detection of wheel hub motor type and explosive function - Google Patents
The trailer robot of the spontaneous electric gas/liquid pressure detection of wheel hub motor type and explosive function Download PDFInfo
- Publication number
- CN108773429A CN108773429A CN201810709049.2A CN201810709049A CN108773429A CN 108773429 A CN108773429 A CN 108773429A CN 201810709049 A CN201810709049 A CN 201810709049A CN 108773429 A CN108773429 A CN 108773429A
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- China
- Prior art keywords
- robot
- trailer
- wheel hub
- wheel
- liquid pressure
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/002—Manipulators for defensive or military tasks
- B25J11/0025—Manipulators for defensive or military tasks handling explosives, bombs or hazardous objects
-
- 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
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D59/00—Trailers with driven ground wheels or the like
- B62D59/04—Trailers with driven ground wheels or the like driven from propulsion unit on trailer
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Robotics (AREA)
- Power Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention announces the trailer robot of a kind of spontaneous electric gas/liquid pressure detection of wheel hub motor type and explosive function, belong to robot and trailer double technique field, it can be applied to the fields such as fire-fighting, explosive, toxic gas-liquid detection, lifting and military affairs, Electromagnetic generation function when dragged using trailer, while solving charge power supply problem when explosive-removal robot or the continuous transition in other specialized robots 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, manipulator for explosion eliminating of the installation with poison gas detection and venom pumping function meets the functional requirement of explosive-removal robot automatic generation, rapid deployment.
Description
Technical field
The present invention relates to technical field of vehicle, the spontaneous electric gas/liquid pressure detection of specifically a kind of wheel hub motor type and explosive function
Trailer robot 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.
6, current global explosive-removal robot does not have poison gas detecting function and venom pumping function.Encountering this
When class situation, need that three or more robots is used to complete task simultaneously.And it is intrinsic between traditional chemical detector kit and host
Communication coding formula data transmission, often so that toxic vapor detection system is very incompatible, accessory is not general mutually.
Invention content
The object of the present invention is to provide it is a kind of with remote-control self walk function the detection of wheel hub motor type spontaneous electric gas/liquid pressure and
The function of automatic charging is capable of outdoors in the trailer robot of explosive function under traction state.And pass through porous module
Change deck platform and each expansion aviation socket, after arriving at, exempt robot trailer handling procedure, directly
Support trailer jack was connected, then opens robot switch, the rapid function of realizing trailer variable body robot again.In addition dragging
Vehicle robot overlying decks platform belongs to generalization, modularized design, can very easily carry installation different task module, real
Existing various functions, meet various needs.
The invention is realized by the following technical scheme：A kind of spontaneous electric gas/liquid pressure detection of wheel hub motor type and explosive function are dragged
Vehicle robot, including towing bracket；The towing bracket front end is equipped with trailer connector and belt wheel trailer jack；In trailer branch
The both sides of frame are respectively equipped with 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；Manipulator for explosion eliminating 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.
The manipulator for explosion eliminating is the manipulator with crawl function of 2 axis or more.
Chemical detector kit and video camera are installed on the manipulator for explosion eliminating；Video camera；Video camera is mounted on video camera branch
It on frame, is oppositely arranged with chemical detector kit, camera shooting function sees the instrument board of chemical detector kit clearly.
Micro pump, liquid storage bottle and two pipelines are installed on the manipulator for explosion eliminating；One pipeline is mounted on micro-
Type pump intake and manipulator for explosion eliminating front, do and draw liquid purposes；An other pipeline is mounted on micro pump and liquid storage
Between bottle.
Compared with prior art, the beneficial effects of the invention are as follows：
1, the braking quality of trailer and tractor is improved：Using dragging for the detection of the wheel hub motor type spontaneous electric gas/liquid pressure and explosive function
Vehicle robot can be closed power generation switch in brake, the resistance generated when being generated electricity using power motor, to assist reducing vehicle
Speed improves safety；
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, present invention employs the manipulator for explosion eliminating with poison gas detection and venom pumping function, realize poison gas detection and poison
Liquid pumping function.
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 manipulator for explosion eliminating additional；
Fig. 6 is the structural schematic diagram for the manipulator for explosion eliminating that the present invention has gas-liquid spy function；
Fig. 7 is the structural representation front view for the manipulator for explosion eliminating that the present invention has gas-liquid spy function；
Fig. 8 is the mechanical arm assembly sectional view for the manipulator for explosion eliminating that the present invention has gas-liquid spy function；
Fig. 9 is the manipulator large arm sectional view for the manipulator for explosion eliminating that the present invention has gas-liquid spy function；
Figure 10 is the structure top view for the manipulator for explosion eliminating that the present invention has gas-liquid spy function.
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；17,
Manipulator for explosion eliminating.
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, the trailer machine of a kind of spontaneous electric gas/liquid pressure detection of wheel hub motor type and explosive function
People, 1 front end of towing bracket are equipped with trailer connector 2 and belt wheel trailer jack 3；Trailer connector 2 can be a hooklet,
Universal wheel may be used in belt wheel trailer jack 3.Left wheel 4, right wheel 5 are connected to the two of towing bracket 1 by suspension 6 respectively
Side；Suspension 6 is hung for independent suspension or dependent, specifically, suspension 6 can be steel spring plate, torsion shaft etc..Left wheel 4, the right side
Wheel 5 is arranged in pairs, and 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, being provided with poison gas detection and venom pumping function by mounting hole 10 in deck platform 15
Manipulator for explosion eliminating 17, manipulator for explosion eliminating 17 are the manipulators with crawl function of 2 axis or more.
In conjunction with shown in Fig. 6 to Figure 10, explosive-removal robot includes mechanical arm assembly 580 and horizontal revolving stage 501, horizontal revolving stage
Turntable motor 593, motor driver 591 and the multi-functional principal arm 521 on horizontal revolving stage 501 are installed in 501；It is more
Principal arm speed reducer 523, principal arm pitching motor 522 and Manipulator Controller 590, multi-functional master are installed inside function principal arm 521
521 surface of arm is equipped with chemical detector kit 599 and camera mount 5108；Video camera 108 is installed on camera mount 5108；
Horizontal revolving stage 501 is equipped with pedestal runing rest 509 for being fixedly mounted on robot chassis；Pacify on pedestal runing rest 509
Equipped with liquid storage bottle 514；The inside of multi-functional principal arm 521 is equipped with micro pump 594, and principal arm end head is equipped with electric pushrod 542,
The other end of electric pushrod 542 is connected with the second large arm (541), and electric pushrod 542 pushes 541 activity of the second large arm；Second
The end position of large arm 541 is equipped with mechanical arm assembly 580, and end tail portion position is equipped with electric pushrod 542；Second large arm 541 with
The centre of mechanical arm assembly 580 is equipped with multi-functional composite joint 551；Composite joint is installed on multi-functional composite joint 551
Turntable 552；Turntable motor 593 and motor driver 591 are installed, outside is set with composite joint on composite joint turntable 552
Electric cabinet 5511.
Multi-functional principal arm 521 is additionally provided with outlet hole 528；Camera 108 and the instrument board 5991 on chemical detector kit 599
Display surface carries out staggered relatively；594 water inlet pipe of micro pump is connected to mechanical arm assembly 580, the connection of 594 water outlet of micro pump
To liquid storage bottle 514；Micro pump 594 is peristaltic pump.
Liquid storage bottle 514 passes through the micro pump 594 in piping connection to multi-functional principal arm 521；Pedestal runing rest 509
Side is equipped with video camera 108 and headlamp 596；There is mounting hole 510 in 501 lower section of horizontal revolving stage.
Composite joint turntable 552 is fixedly arranged on 541 upper end of the second large arm, and being equipped with hand in composite joint turntable 552 grabs more work(
It can main shaft 582；One end that hand grabs Multifunctional main shaft 582 is installed with mechanical arm assembly 580；In addition hand grabs Multifunctional main shaft 582
Composite joint turntable 552 is stretched out in one end；Composite joint turntable 552 is equipped with turntable motor 593 and motor driver 591, external
It is set with composite joint electric cabinet 5511, constitutes multi-functional composite joint 551；Composite joint electric cabinet 5511 is installed with multiple sockets
558, headlamp 596, video camera 108；Socket 558 for mechanical arm assembly 580 electrical connection and hand grab Multifunctional main shaft
The electrical connection of plug-in module on 582.
Mechanical arm assembly 580 by hand grab 582 and hand grab seat 583 and form, hand grab seat 583 built in hand grab 5831 He of electric rotating machine
Hand grabs folding motor 5832, and hand grabs 583 underlying headlamp 596 of seat, video camera 108；Hand grabs seat 583 and catches string holes 585 by hand
Draw plug is connected with the socket 558 of multi-functional composite joint 551.
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. the trailer robot of a kind of spontaneous electric gas/liquid pressure detection of wheel hub motor type and explosive function, including towing bracket（1）；It is described
Towing bracket（1）Front end is equipped with trailer connector（2）With belt wheel trailer jack（3）；In towing bracket（1）Both sides set respectively
There is left wheel（4）, right wheel（5）；The left wheel（4）, right wheel（5）Pass through suspension respectively（6）With towing bracket（1）Even
It connects；
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）Manipulator for explosion eliminating is installed（17）.
2. the trailer robot of the spontaneous electric gas/liquid pressure detection of wheel hub motor type according to claim 1 and explosive function, special
Sign is：From the hub type motor（7）To electricity generating controller to battery case（9）Circuit in, be provided with power generation switch；It is described
Motor driver connects battery case with robot controller（9）；The battery case（9）It is connected with charge port；The Generation Control
Device is MTTP electricity generating controllers.
3. the trailer robot of the spontaneous electric gas/liquid pressure detection of wheel hub motor type according to claim 1 and explosive function, special
Sign is：The robot controller, which is connected with, is fixed on towing bracket（1）On antenna（11）；The antenna（11）Pass through nothing
Line is connected with Robot remote device；The antenna（11）The wireless telecommunications being responsible for Robot remote device receiving and transmitting signal including one
Antenna and one are responsible for transmission image to the audio-visual transmission antenna of Robot remote device.
4. the trailer robot of the spontaneous electric gas/liquid pressure detection of wheel hub motor type according to claim 1 and explosive function, special
Sign is：The towing bracket（1）Front and back side be separately installed with camera.
5. the trailer robot of the spontaneous electric gas/liquid pressure detection of wheel hub motor type according to claim 1 and explosive function, special
Sign is：The towing bracket（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 is inserted
Seat is also connected with there are one external motor driver, and external motor driver is connected with robot controller.
6. the trailer robot of the spontaneous electric gas/liquid pressure detection of wheel hub motor type according to claim 1 and explosive function, special
Sign is：The left wheel（4）, right wheel（5）Altogether equipped with a pair of, two pairs or two pairs or more；The suspension（6）For independence
Suspension or dependent suspension.
7. the trailer robot of the spontaneous electric gas/liquid pressure detection of wheel hub motor type according to claim 1 and explosive function, special
Sign is：The suspension（6）For steel spring plate or torsion shaft；The wheel hub motor is pm brushless in-wheel motor.
8. the trailer robot of the detection of wheel hub motor type spontaneous electric gas/liquid pressure and explosive function according to claim 1, special
Sign is：The manipulator for explosion eliminating（17）It is the manipulator with crawl function of 2 axis or more.
9. the trailer robot of the detection of wheel hub motor type spontaneous electric gas/liquid pressure and explosive function according to claim 8, special
Sign is：The manipulator for explosion eliminating（17）On chemical detector kit is installed（599）And video camera（108）；Video camera（108）；It takes the photograph
Camera（108）Mounted on camera mount（5108）On, with chemical detector kit（599）It is oppositely arranged, video camera（108）It can see clearly
Chemical detector kit（599）Instrument board（5991）.
10. the trailer robot of the detection of wheel hub motor type spontaneous electric gas/liquid pressure and explosive function according to claim 8, special
Sign is：The manipulator for explosion eliminating（17）On micro pump is installed（594）, liquid storage bottle（514）With two pipelines；Described one
Pipeline is mounted on micro pump（594）Water inlet and manipulator for explosion eliminating（17）Front does and draws liquid purposes；An other pipeline
Mounted on micro pump（594）And liquid storage bottle（514）Between.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810709049.2A CN108773429A (en) | 2018-07-02 | 2018-07-02 | The trailer robot of the spontaneous electric gas/liquid pressure detection of wheel hub motor type and explosive function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810709049.2A CN108773429A (en) | 2018-07-02 | 2018-07-02 | The trailer robot of the spontaneous electric gas/liquid pressure detection of wheel hub motor type and explosive function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108773429A true CN108773429A (en) | 2018-11-09 |
Family
ID=64030869
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810709049.2A Withdrawn CN108773429A (en) | 2018-07-02 | 2018-07-02 | The trailer robot of the spontaneous electric gas/liquid pressure detection of wheel hub motor type and explosive function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108773429A (en) |
-
2018
- 2018-07-02 CN CN201810709049.2A patent/CN108773429A/en not_active Withdrawn
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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Application publication date: 20181109 |