CN109018067A - The trailer robot of the seperated spontaneous electric gas/liquid pressure detection of motor-type and explosive function - Google Patents

Abstract

The present invention announces the trailer robot of a kind of spontaneous electric gas/liquid pressure detection of seperated 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 and charging time problem when explosive-removal robot or the continuous transition in other specialized robots 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, 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

The trailer robot of the seperated spontaneous electric gas/liquid pressure detection of motor-type and explosive function

Technical field

The present invention relates to technical field of vehicle, the detection of specifically a kind of fission motor-type spontaneous electric gas/liquid pressure and explosive function Trailer robot 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: the 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 fire-fighting robot charging is difficult: traditional electric power type fire-fighting 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 fire-fighting 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: often can only be 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 to complete task using three or more robots simultaneously.And it is intrinsic between traditional chemical detector kit and host The transmission of communication coding formula data, often makes toxic vapor detection system very incompatible, accessory is not general mutually.

Summary of the invention

The object of the present invention is to provide a kind of detection of seperated motor-type for walking function with remote-control self 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 The aviation socket for changing deck platform and each expansion after arriving at the destination, exempts robot in the handling procedure of trailer, directly Support trailer jack was connected, robot switch is then opened again, realizes the function of trailer variable body robot rapidly.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 detection of fission motor-type spontaneous electric gas/liquid pressure 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 two sides of frame are respectively equipped with 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；Manipulator for explosion eliminating 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, being 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.

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；Other root canal road is mounted on micro pump and liquid storage Between bottle.

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 present invention are:

1, it improves the braking quality of trailer and tractor: using the spontaneous electric trailer robot of the modularization, in brake, can close 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: the 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 bomb-exclusive trailer 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 of traditional bomb-exclusive trailer robot is solved, when exempting handling valuable between robot and vehicle Between.Control signal (brake and power generation switch signal) connection of power generation switch and front truck is released, then after being detached from tractor and drawing, 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 The control signal (brake and power generation switch signal) of front truck, realizes 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 an explosive-removal robot or other specialized robots.

7, it lowers the center of gravity, improves Transport Safety: since trailer chassis and bomb-exclusive trailer 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, 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.

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 manipulator for explosion eliminating additional；

Fig. 7 is the structural schematic diagram for the manipulator for explosion eliminating that the present invention has gas-liquid spy function；

Fig. 8 is the structural representation front view for the manipulator for explosion eliminating that the present invention has gas-liquid spy function；

Fig. 9 is the mechanical arm assembly cross-sectional view for the manipulator for explosion eliminating that the present invention has gas-liquid spy function；

Figure 10 is the manipulator large arm cross-sectional view for the manipulator for explosion eliminating that the present invention has gas-liquid spy function；

Figure 11 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；8, control cabinet；9, battery case；10, round；11, antenna；12, concave signal pit；13, brushless motor；14, slow down Machine；15, deck platform；17, manipulator for explosion eliminating.

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, the trailer machine of a kind of spontaneous electric gas/liquid pressure detection of fission motor-type and explosive function Device 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 small hook Son, belt wheel trailer jack 3 can use universal wheel.Left wheel 4, right wheel 5 are connected to towing bracket 1 by suspension 6 respectively Two sides；Suspension 6 is hung for independent suspension or dependent, specifically, suspension 6 can be steel spring plate, torsion shaft etc..Left wheel 4, right wheel 5 is arranged in pairs, and 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, being provided with poison gas detection and venom pumping function by fixation 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. 7 to Figure 11, 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 being mounted 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 below horizontal revolving stage 501.

Composite joint turntable 552 is fixedly arranged on 541 upper end of the second large arm, is equipped with hand in composite joint turntable 552 and grabs more function 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 rotating electric machine Hand grabs folding motor 5832, and hand grabs the underlying headlamp 596 of seat 583, 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 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 (10)

1. the trailer robot of a kind of spontaneous electric gas/liquid pressure detection of fission motor-type and explosive function, including towing bracket (1)；It is described Towing bracket (1) front end is equipped with trailer connector (2) and belt wheel trailer jack (3)；It is set respectively in the two sides of towing bracket (1) There are left wheel (4), right wheel (5)；The left wheel (4), right wheel (5) are connected by suspension (6) and towing bracket (1) respectively It connects；

It is characterized by:

The left wheel (4), right wheel (5) are connected separately with speed reducer (14)；The speed reducer (14) is connected with brushless motor (13)；The brushless motor (13) is connected with a motor driver and an electricity generating controller, motor by switching relay Driver is connected with robot controller；

It is fixed with control cabinet (8) under the towing bracket (1), the motor driver, robot controller, electricity generating controller peace In control cabinet (8)；

The battery case (9) for powering to the interior motor driver of control cabinet (8) is further fixed under the towing bracket (1)；Hair Electric controller connects battery case (9)；The deck platform (15) of the towing bracket (1) offers multiple equally distributed fixation holes (10)；Fixation hole (10) is symmetrical or matrix arrangement；Explosive machine is installed by fixation hole (10) in deck platform (15) Tool hand (17).

2. the trailer robot of the spontaneous electric gas/liquid pressure detection of fission motor-type according to claim 1 and explosive function, special Sign is: from the brushless motor (13) to electricity generating controller into the circuit of battery case (9), being provided with power generation switch；It is described Motor driver connects battery case (9) with robot controller；The battery case (9) is connected with charge port；The Generation Control Device is MTTP electricity generating controller.

3. the trailer robot of the spontaneous electric gas/liquid pressure detection of fission motor-type according to claim 1 and explosive function, special Sign is: the robot controller is connected with the antenna (11) being fixed on towing bracket (1)；The antenna (11) passes through nothing Line is connected with Robot remote device；The antenna (11) includes the wireless telecommunications being responsible for Robot remote device receiving and transmitting signal 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 fission motor-type according to claim 1 and explosive function, special Sign is: the front and back side of the towing bracket (1) is separately installed with camera.

5. the trailer robot of the spontaneous electric gas/liquid pressure detection of fission motor-type according to claim 1 and explosive function, special Sign is: the deck platform (15) of the towing bracket (1) is equipped with concave signal pit (12) or convex signal tower；The concave letter Number hole (12) or convex signal tower in aviation socket is installed；The aviation socket is connected to robot controller, aviation socket It is also connected with an external motor driver, external motor driver is connected with robot controller.

6. the trailer robot of the spontaneous electric gas/liquid pressure detection of fission motor-type according to claim 1 and explosive function, special Sign is: the left wheel (4), right wheel (5) are altogether equipped with a pair of, two pairs or two pairs or more.

7. the trailer robot of the spontaneous electric gas/liquid pressure detection of fission motor-type according to claim 1 and explosive function, special Sign is: the brushless motor (13) is permanent magnetic brushless.

8. the trailer robot of the spontaneous electric gas/liquid pressure detection of fission motor-type according to claim 1 and explosive function, special Sign is: the manipulator for explosion eliminating (17) is the manipulator with crawl function of 2 axis or more.

9. the trailer robot of the spontaneous electric gas/liquid pressure detection of fission motor-type according to claim 8 and explosive function, special Sign is: being equipped with chemical detector kit (599) and video camera (108) on the manipulator for explosion eliminating (17)；Video camera (108)；It takes the photograph Camera (108) is mounted on camera mount (5108), is oppositely arranged with chemical detector kit (599), and video camera (108) can be seen clearly The instrument board (5991) of chemical detector kit (599).

10. the trailer robot of the spontaneous electric gas/liquid pressure detection of fission motor-type according to claim 8 and explosive function, special Sign is: micro pump (594), liquid storage bottle (514) and two pipelines are equipped on the manipulator for explosion eliminating (17)；Described one Pipeline is mounted on micro pump (594) water inlet and manipulator for explosion eliminating (17) front, does and draws liquid purposes；Other root canal road It is mounted between micro pump (594) and liquid storage bottle (514).