CN108890654A - Seperated motor-type self power generation fire-fighting fire extinguishing trailer robot - Google Patents
Seperated motor-type self power generation fire-fighting fire extinguishing trailer robot Download PDFInfo
- Publication number
- CN108890654A CN108890654A CN201810717700.0A CN201810717700A CN108890654A CN 108890654 A CN108890654 A CN 108890654A CN 201810717700 A CN201810717700 A CN 201810717700A CN 108890654 A CN108890654 A CN 108890654A
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- CN
- China
- Prior art keywords
- motor
- trailer
- robot
- power generation
- fire
- 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
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- 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)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The present invention announces a kind of seperated 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 and charging time problem when the continuous transition in firefighting fire extinguishing robot open air；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, installation meets the functional requirement of fire-fighting robot automatic generation, rapid deployment from pendulum self power generation fire water monitor.
Description
Technical field
The present invention relates to technical field of vehicle, specifically a kind of fission 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 technique
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 five significant drawbacks are faced 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 easy to appear, 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 firefighting fire extinguishing robot charging is difficult：Traditional electric power type firefighting fire extinguishing robot must be filled by fixation
Electric installation charges to realize, the quality time being generally difficult in transportational process charges when walking, in case of emergency, if
It is not full of electric energy, then what is come into operation will be the insufficient robot of energy.These machines that can not can not be charged outdoors
People seriously affects the using effect of equipment；
4, robotic conveyance and handling are inconvenient：Due to traditional firefighting fire extinguishing robot, the chassis speed of travel is slower, transports over long distances
When defeated, it is necessary to be consigned by other vehicles.But all there is handling trouble, delay the quality time, affect the significant scarce of the disaster relief adversely
Point；
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, it requires the expenditure of energy when Robot Extinguishing Fire, causes the working time insufficient.
Summary of the invention
The object of the present invention is to provide a kind of seperated 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 the destination, exempts robot in the handling procedure of trailer, directly passes through support trailer
Then jack opens robot switch again, realizes the function of trailer variable body robot rapidly.In addition first above trailer robot
Plate platform belongs to generalization, modularized design, can very easily carry installation different task module, realize various functions, full
The various needs of foot.
The invention is realized by the following technical scheme：A kind of fission 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 two sides of towing bracket point
It She You not left wheel, right wheel；The left wheel, right wheel pass through suspension respectively and connect with towing bracket；
The left wheel, right wheel are connected separately with speed reducer；The speed reducer is connected with brushless motor；The brushless motor is logical
It crosses switching relay and is connected with a motor driver and an electricity generating controller, motor driver is connected with robot control
Device；
Control cabinet, the motor driver, robot controller, the installation of MTTP electricity generating controller 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 connection
Battery case；
The deck platform of the towing bracket offers multiple equally distributed fixation holes；Fixation hole is symmetrical or matrix form row
Column；Fire water monitor is equipped with by fixation hole in deck platform.
It is further：From the brushless motor to electricity generating controller into 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 controller.
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 signal tower；The aviation socket is connected to robot controller, aviation socket be also connected with one it is right
Outer motor driver, external motor driver are connected with robot controller.
Fire water monitor is hydraulic auto-oscillation big gun.
Fire water monitor puts self power generation fire water monitor certainly.
The left wheel, right wheel are equipped with a pair of, two pairs or two pairs or more altogether.
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 using the spontaneous electric trailer robot of the modularization in brake
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 easy to appear 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, leads
Cause lorry out of control.And trailer electricity generation system of the invention, then such case can be effectively taken precautions against, it, can when driver is when descending
With this set system of pre-cooling.After opening trailer power generation switch, the dynamic brake function of trailer just be 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 will affect the locked and skid resistance of wheel, 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 firefighting fire extinguishing robot is solved, fills function when walking when may be implemented dragged, no
It is only capable of being collected the mobile energy generated of outdoor dragging, moreover it is possible to the treasured when trailer robot made full use of is dragged mobile
Your time.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 firefighting fire extinguishing robot, when exempting handling valuable between robot and vehicle
Between.Release control signal (brake and the power generation switch signal of power generation switch and front truck）Connection, then with tractor be detached from traction after,
Belt wheel jack is put down, robot switch then need to be only opened, trailer can become a remote-controlled robot.Conversely, the machine of closing
Device people switch, trailer robot is directly connected to trailer connector the traction power vehicle of front, power generation switch to connect with
Control signal (brake and the power generation switch signal of front truck）, realize control, quick handling can be realized, shift rapidly.
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, trailer robot very easily can be become into a firefighting fire extinguishing robot.
7, it lowers the center of gravity, improves Transport Safety：Since trailer chassis and firefighting fire extinguishing robot chassis are combined into one, no
Trailer center of gravity is only greatly reduced, complete vehicle quality is also greatly reduced, reduces transport thing as caused by the factors such as jolt
Therefore rate, 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 components are at low cost, complete machine maintenance cost is low, electric
The features such as machine impact resistance is strong.
9, of the invention to use from pendulum self power generation fire water monitor, hydraulic pressure can be utilized when fire extinguishing, drive water wheels
Machine rotary electrification, to generate endlessly energy supplement.
Detailed description of the invention
Fig. 1 is one main view of the embodiment of the present invention；
Fig. 2 is one top view of the embodiment of the present invention；
Fig. 3 is one schematic perspective view of the embodiment of the present invention；
Fig. 4 is one bottom view of the embodiment of the present invention；
Fig. 5 is one circuit controling drawing of the embodiment of the present invention；
Fig. 6 is that the embodiment of the present invention one installs the schematic perspective view 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；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 embodiment
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 description, 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 self power generation fire-fighting fire extinguishing trailer robot, trailer branch
1 front end of frame is equipped with trailer connector 2 and belt wheel trailer jack 3；Trailer connector 2 can be a hooklet, belt wheel trailer
Jack 3 can use universal wheel.Left wheel 4, right wheel 5 are connected to the two sides of towing bracket 1 by suspension 6 respectively；Suspension 6
It is hung for independent suspension or dependent, specifically, suspension 6 can be steel spring plate, torsion shaft etc..Left wheel 4, right wheel 5 at
To setting, it 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
Switching relay is connected with a motor driver and a MTTP electricity generating controller, and motor driver is connected with robot control
Device；When switching relay does not power on, power motor is connected with MTTP electricity generating controller；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 controller connects 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 the 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 long-range 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 module convenient for connecting, to realize other specific functions.
As shown in fig. 6, fire water monitor 16 is equipped with by fixation 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 an external motor driver.Aviation socket is used to communicate and power with functional 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, to motor driver issue control signal, then motor driver to the left and right two 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 lifting of controller presses technology, realizes 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 controller can
To realize power generation.
The present invention separates motor with wheel hub, with wheel components 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
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (9)
1. a kind of fission 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）Two 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）A motor driver and an electricity generating controller, motor are connected with by switching relay
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）；The towing bracket（1）Deck platform（15）Offer multiple equally distributed fixation holes
（10）；Fixation hole（10）It is symmetrical or matrix arrangement；Deck platform（15）On pass through fixation hole（10）Fire water is installed
Big gun（16）.
2. fission motor-type self power generation fire-fighting fire extinguishing trailer robot according to claim 1, it is characterised in that：From described
Brushless motor（13）To electricity generating controller to battery case（9）Circuit in, be provided with power generation switch；The motor driver and machine
Device people's controller connects battery case（9）；The battery case（9）It is connected with charge port；The electricity generating controller is MTTP power generation control
Device processed.
3. fission 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. fission 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. fission 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）Equipped with concave signal pit（12）Or convex signal tower；The concave signal pit（12）Or it is convex
Aviation socket is installed in type signal tower；The aviation socket is connected to robot controller, and aviation socket is also connected with one
External motor driver, external motor driver are connected with robot controller.
6. fission 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. fission motor-type self power generation fire-fighting fire extinguishing trailer robot according to claim 1, it is characterised in that：The nothing
Brush motor（13）For permanent magnetic brushless.
8. fission motor-type self power generation fire-fighting fire extinguishing trailer robot according to claim 1, it is characterised in that：It is described to disappear
Anti- water cannon（16）For hydraulic auto-oscillation big gun.
9. fission motor-type self power generation fire-fighting fire extinguishing trailer robot according to claim 1, it is characterised in that：It is described to disappear
Anti- water cannon（16）From pendulum self power generation fire water monitor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810717700.0A CN108890654A (en) | 2018-07-02 | 2018-07-02 | Seperated motor-type self power generation fire-fighting fire extinguishing trailer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810717700.0A CN108890654A (en) | 2018-07-02 | 2018-07-02 | Seperated motor-type self power generation fire-fighting fire extinguishing trailer robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108890654A true CN108890654A (en) | 2018-11-27 |
Family
ID=64347780
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810717700.0A Withdrawn CN108890654A (en) | 2018-07-02 | 2018-07-02 | Seperated motor-type self power generation fire-fighting fire extinguishing trailer robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108890654A (en) |
-
2018
- 2018-07-02 CN CN201810717700.0A patent/CN108890654A/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 | ||
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Application publication date: 20181127 |