CN112318504B

CN112318504B - Multi-sensor industrial robot cooperative motion device and control method thereof

Info

Publication number: CN112318504B
Application number: CN202011169815.4A
Authority: CN
Inventors: 吴凡
Original assignee: Zhejiang Shuren University
Current assignee: Zhejiang Shuren University
Priority date: 2020-10-28
Filing date: 2020-10-28
Publication date: 2021-09-14
Anticipated expiration: 2040-10-28
Also published as: CN112318504A

Abstract

The invention discloses a multi-sensor industrial robot cooperative motion device and a control method thereof, relating to the field of motion robots, and the multi-sensor industrial robot cooperative motion device comprises an electric vehicle main body, wherein the upper side of the electric vehicle main body is provided with a bottom plate, a power box is connected between the electric vehicle main body and the bottom plate, the upper side of the bottom plate is provided with a top plate, a shaft barrel is connected between the bottom plate and the top plate, a storage box is arranged in the shaft barrel, the outer wall of the storage box is rotatably connected with a sleeve pipe, an isolation pipe is wound on the sleeve pipe, the outer wall of the storage box is fixedly connected with a connecting pile, one end of the connecting pile, far away from the storage box, is chiseled with a mounting groove, a butt joint is inserted in the mounting groove, one end of the butt joint is fixedly connected with the isolation pipe, the multi-sensor industrial robots can be grouped into a team through cooperative motion, the team of the robots can be combined into a whole body to perform cooperative motion, the merged robot formation can be operated in coordination with transportation and the like.

Description

Multi-sensor industrial robot cooperative motion device and control method thereof

Technical Field

The invention relates to the field of motion robots, in particular to a multi-sensor industrial robot collaborative motion device and a control method thereof.

Background

With the development of science and technology and the more and more common application of mobile robots, people develop mobile robot systems capable of working in various environments, and with the progress of industrialization, many fields such as automatic manufacturing, flexible production, search and rescue, environmental monitoring, safety and health face a large number of tasks with complex operations and large scale. Therefore, a single robot has not been able to perform these tasks well. Compared with a single robot system, the multi-robot system has a series of remarkable advantages due to the mutual cooperation of a plurality of robots, for example, the multi-robot system can reduce the complexity of task solution, promote the high efficiency of task completion, increase the reliability of the system, simplify the design of the system and the like. Due to these excellent characteristics, the multi-robot system is receiving more and more attention, and has attracted a great deal of study by scholars.

At present, some mobile robots used for industrial areas can mostly move and carry and other work, but most robots can only work alone, the cooperative work effect of a plurality of robots is not good, the function of the current common industrial mobile robot is single, emergency situations such as fire disasters occur in the industrial area, the emergency situations cannot be cooperatively processed, the human processing easily causes casualties, and other safety special robots are increased and need to additionally increase manpower and material resources to operate and manage.

Disclosure of Invention

1. Technical problem to be solved

The invention aims to provide a multi-sensor industrial robot cooperative motion device, which can realize cooperative motion of a plurality of industrial robots to group the robots into a single group, the robots in the single group can be combined into a whole to perform cooperative motion, the combined robot group can perform operations such as cooperative transportation, and the combined robot group can stretch an isolation pipe in the combined robot group after being unfolded to form an isolation zone between the two robots so as to isolate areas in case of fire, and a fire retardant can be sprayed to the periphery through the isolation pipe to prevent the fire from spreading.

2. Technical scheme

In order to solve the above problems, the present invention adopts the following technical solutions.

A multi-sensor industrial robot cooperative motion device comprises an electric vehicle main body, wherein a bottom plate is arranged on the upper side of the electric vehicle main body, a power box is connected between the electric vehicle main body and the bottom plate, a top plate is arranged on the upper side of the bottom plate, a shaft barrel is connected between the bottom plate and the top plate, a storage box is installed in the shaft barrel, a sleeve is rotatably connected to the outer wall of the storage box, an isolation pipe is wound on the sleeve, a connecting pile is fixedly connected to the outer wall of the storage box, a mounting groove is formed in one end, away from the storage box, of the connecting pile, a butt joint is inserted in the mounting groove, one end of the butt joint is fixedly connected with the isolation pipe, a butt plate is fixedly connected to the other end of the butt joint, and a pair of electric push rods is connected between the butt plate and the connecting pile; fixedly connected with stake in parallel on the outer wall of a shaft section of thick bamboo can realize through a plurality of industrial robot concerted motion, makes a plurality of robots marshalled into a team, and a team of robot can merge and carry out concerted motion for whole, and the robot formation after the combination can carry out operations such as transportation in coordination, and the robot formation after the combination expandes its inside stand pipe of portion of can stretching, makes and forms the median between two robots to carry out regional isolation when the conflagration, accessible stand pipe sprays the fire retardant to around, in order to prevent the fire behavior diffusion.

Further, the headstock includes rotates the casing of being connected with the electric motor car main part, install first motor in the electric motor car main part, the power take off end and the headstock fixed connection of first motor, install ultrasonic ranging sensor in the casing, can realize fixing a position the distance between two robots through ultrasonic ranging sensor.

Further, install the second motor in the casing, sheathed tube bottom fixedly connected with follows the driving wheel, fixedly connected with action wheel on the inner wall of beam barrel, the main road with follow is connected with the drive belt between the driving wheel, the power take off end fixed connection of action wheel and second motor drives the sleeve pipe through the second motor and rotates, make things convenient for the coil when the cooperation unwrapping wire and the spacer tube when the spacer tube is withdrawed when being pulled out.

Further, a plurality of laser range finding sensors of fixedly connected with on the outer wall of bottom plate, laser range finding sensor sets up to five, five laser range finding sensor is located the bottom plate respectively and on the five outer walls that match with parallelly connected stake, and with bottom plate outer wall middle part fixedly connected with laser receiver of isolation tube position assorted, match through laser range finding sensor and laser receiver, make the bottom plate terminal surface of two robots align completely to guarantee the regularity of merging back robot.

Further, the top of roof is excavated there is the mounting groove, install a plurality of data interface in the mounting groove, fixedly connected with conduit in the bin, be connected with the cable that runs through the conduit between data interface and the headstock, can install functional mechanisms such as spray gun or manipulator on the roof.

And the electric vehicle main body, the air pump and the shell are all in signal connection with the single chip.

Further, install the air pump in the bin, the one end that the bin was kept away from to parallelly connected stake is dug there is the draw-in groove, the joint has connecting plug in the draw-in groove, fixedly connected with and the communicating solid fixed tube of air pump on the connecting plug, two robots can realize the sharing of two robot bins through parallelly connected stake connection back, carry the fire retardant in the robot bin to next robot through parallelly connected stake, can realize that the robot of collaborative work carries out long-time concentration in the arbitrary place and sprays the fire retardant.

A multi-sensor industrial robot cooperative motion device comprises a control method as follows:

a1, when a plurality of robots move cooperatively, the single chip microcomputer in the power box connects the plurality of robots through wireless signals and forms a team through a wireless transmission module;

a2, then performing robot cooperative connection to activate ultrasonic ranging sensors on a plurality of robots, and gradually moving the surrounding robots to approach the power box by taking the power box as a center until the distance between the two robots is less than 10 cm;

a3, activating a laser ranging sensor on a robot bottom plate and a laser receiver on another robot, when the laser ranging sensor is matched with the laser receiver, an isolation tube on one shaft barrel is matched with a parallel pile on another shaft barrel, then an electric push rod works to push the butt joint plate out of the connecting pile and clamp the butt joint plate with a connecting plug on the parallel pile, and at the moment, the storage boxes of the two robots are fixed to be communicated;

a4, after the multiple robots are cooperatively connected, the robot at the center position is used as an operation terminal, and after receiving an instruction, the peripheral robots synchronously move and move in a robot formation;

a5, when a fire occurs, the robots are connected in pairs by the method, the shaft cylinders of the robots are connected in series, then the technicians control the robots to move separately, the sleeves rotate at the moment, the isolation pipes are paid off, and therefore the isolation pipes are stretched and extended, and isolation belts are formed between the isolation pipes of the two electric vehicle main bodies.

3. Advantageous effects

Compared with the prior art, the invention has the advantages that:

(1) this scheme can realize through a plurality of industrial robot concerted motion, makes a plurality of robots marshalling into a team, and a team of robot can merge and carry out concerted motion for whole, and the robot formation after the merging can carry out operations such as transportation in coordination, and can stretch its inside isolation tube after the robot formation after the merging expandes, makes and forms the median between two robots to carry out regional isolation when the conflagration, accessible isolation tube sprays the fire retardant to around, in order to prevent the fire situation diffusion.

(2) The headstock includes rotates the casing of being connected with the electric motor car main part, install first motor in the electric motor car main part, the power take off end and the headstock fixed connection of first motor, install ultrasonic ranging sensor in the casing, can realize the distance between two robots of ultrasonic ranging sensor location, a plurality of laser ranging sensor of fixedly connected with on the outer wall of bottom plate, laser ranging sensor sets up to five, five laser ranging sensor are located the bottom plate respectively and on five outer walls that match with parallelly connected stake, and with isolator position assorted laser ranging sensor, the middle part fixedly connected with laser receiver of bottom plate outer wall, match with laser receiver through laser ranging sensor, make the bottom plate terminal surface of two robots align completely, in order to guarantee to merge the regularity of back robot.

(3) Install the air pump in the bin, the one end that the bin was kept away from to the stake of connecting in parallel is dug there is the draw-in groove, the joint has connecting plug in the draw-in groove, fixedly connected with and the communicating solid fixed tube of air pump on the connecting plug, two robots are through the stake connection back that connects in parallel, can realize the sharing of two robot bins, carry the fire retardant in a robot bin to next robot in through the stake that connects in parallel, the robot that can realize the collaborative work carries out long-time concentration in arbitrary place and sprays the fire retardant.

(4) Install the second motor in the casing, sheathed tube bottom fixedly connected with follows the driving wheel, fixedly connected with action wheel on the inner wall of beam barrel, the initiative way with from being connected with the drive belt between the driving wheel, action wheel and the power take off end fixed connection of second motor, rotate through second motor drive sleeve pipe, the coiling when conveniently keeping apart in coordination unwrapping wire and keeping apart the pipe when being withdrawed when the pipe is pulled out.

Drawings

FIG. 1 is a perspective view of a main body of a de-electrifying vehicle according to the present invention;

FIG. 2 is a cross-sectional view of the present invention;

FIG. 3 is a schematic view of the structure at A in FIG. 2;

FIG. 4 is a schematic view of the structure at B in FIG. 2;

FIG. 5 is a cross-sectional view of the two base plates of the present invention when they are combined;

FIG. 6 is a schematic view of the structure at C in FIG. 5;

FIG. 7 is a top sectional view of the spacer tube of the present invention at the shaft tube in its deployed state.

The reference numbers in the figures illustrate:

the device comprises a main body of the electric vehicle 1, a first motor 101, a bottom plate 2, a power box 3, a shell 301, a second motor 302, a top plate 4, a shaft barrel 5, a storage box 501, a sleeve 502, an isolation pipe 503, a connecting pile 504, a butt joint 505, a butt joint 506, an electric push rod 507, a conduit 508, a laser ranging sensor 6, a parallel pile 7, an air pump 701, a connecting plug 702 and a fixing pipe 703.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention; it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by those skilled in the art without any inventive work are within the scope of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top/bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "sleeved/connected," "connected," and the like are to be construed broadly, e.g., "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Example 1:

referring to fig. 1-3, a multi-sensor industrial robot cooperative motion device, including electric motor car main part 1, electric motor car main part 1 in this scheme is current electric energy driven displacement robot for transport, install the battery in the electric motor car main part 1, the upside of electric motor car main part 1 is equipped with bottom plate 2, be connected with headstock 3 between electric motor car main part 1 and the bottom plate 2, headstock 3 includes casing 301 of being connected with electric motor car main part 1 rotation, install first motor 101 in electric motor car main part 1, the power take off end of first motor 101 and headstock 3 fixed connection, install ultrasonic ranging sensor in the casing 301, can realize fixing a position the distance between two robots through ultrasonic ranging sensor.

Referring to fig. 1-7, a top plate 4 is disposed on the upper side of a bottom plate 2, the bottom plate 2 and the top plate 4 are regular hexahedrons, so that a robot can be combined with six identical robots, a shaft cylinder 5 is connected between the bottom plate 2 and the top plate 4, a storage box 501 is installed in the shaft cylinder 5, an installation groove is drilled at the top end of the top plate 4, a plurality of data interfaces are installed in the installation groove, a conduit 508 is fixedly connected in the storage box 501, a cable penetrating through the conduit 508 is connected between the data interfaces and a power box 3, a functional mechanism such as a spray gun or a manipulator can be installed on the top plate 4, the storage box 501 is fixedly connected with the inner wall of the shaft cylinder 5 through the conduit 508, a fire retardant is stored in the storage box 501, a sealing ring is rotatably connected to the bottom end of the storage box 501, a sleeve 502 is rotatably connected to the outer wall of the storage box 501, an isolation tube 503 is wound around the sleeve 502, and the isolation tube 503 is a rubber hose, a plurality of small one-way valves which are uniformly distributed are arranged on the isolating pipe 503, and one end of the isolating pipe 503 penetrates through the sealing ring and extends into the storage tank 501;

referring to fig. 2-5, a second motor 302 is installed in the housing 301, a driven wheel is fixedly connected to the bottom end of the sleeve 502, a driving wheel is fixedly connected to the inner wall of the shaft tube 5, a driving belt is connected between the driving path and the driven wheel, the driving wheel is fixedly connected to the power output end of the second motor, and the sleeve 502 is driven to rotate by the second motor 302, so that the separation tube is conveniently cooperatively paid off when being pulled out by the separation tube 503 and is conveniently wound when the separation tube 503 is retracted.

Referring to fig. 2-4, a high-pressure pump matched with an isolation pipe 503 is installed in a storage tank 501, a connection pile 504 is fixedly connected to the outer wall of the storage tank 501, an installation groove is drilled in one end of the connection pile 504 far away from the storage tank 501, a butt joint 505 is inserted into the installation groove, one end of the butt joint 505 is fixedly connected with the isolation pipe 503, the other end of the butt joint 505 is fixedly connected with a butt plate 506, a pair of electric push rods 507 are connected between the butt plate 506 and the connection pile 504, and the telescopic ends of the electric push rods 507 are attached to the butt plate 506; the outer wall of the shaft barrel 5 is fixedly connected with a parallel pile 7.

Referring to fig. 4-6, an air pump 701 is installed in the storage box 501, a clamping groove is cut at one end, away from the storage box 501, of the parallel pile 7, a connecting plug 702 is connected in a clamping manner, a fixing pipe 703 communicated with the air pump 701 is fixedly connected to the connecting plug 702, an electromagnetic valve is installed on the fixing pipe 703, the fixing pipe 703 is installed in the shaft barrel 5 in a penetrating manner, an annular groove matched with the outlet end of the fixing pipe 703 is formed in the top end of the storage box 501 in a drilling manner, after the two robots are connected through the parallel pile 7, sharing of the two robot storage boxes 501 can be achieved, the fire retardant in one robot storage box 501 is conveyed to the next robot through the parallel pile 7, and long-time centralized fire retardant spraying of the robots working cooperatively can be achieved at any place.

Referring to fig. 6, a plurality of laser distance measuring sensors 6 are fixedly connected to the outer wall of the bottom plate 2, the number of the laser distance measuring sensors 6 is five, the five laser distance measuring sensors are respectively located on five outer walls of the bottom plate 2 matched with the parallel connection piles 7, the middle part of the outer wall of the bottom plate 2 matched with the connection piles 504 is fixedly connected with a laser receiver, when two robots are in butt joint, the laser distance measuring sensors 6 on one robot and the laser receiver on the other robot are activated, so that the laser distance measuring sensors 6 are matched with the laser receiver when the corresponding end surfaces of the two bottom plates 2 are parallel in the rotation process of the bottom plates 2 of the two robots, and the laser distance measuring sensors 6 and the laser receiver are both located in the centers of the end surfaces, so that the end surfaces of the bottom plates 2 after butt joint of the two robots are completely aligned, and the uniformity of the robots after combination is ensured.

The utility model provides a control system, control system is connected with wireless signal transmission module including installing the singlechip in headstock 3 on the singlechip, and a plurality of robots carry out signal connection through radio signal, and electric motor car main part 1, air pump 701 and casing 301 all with monolithic signal connection, electric energy drive devices such as singlechip in this scheme all with the battery electric connection in the electric motor car main part 1.

a1, when a plurality of robots move cooperatively, the single chip microcomputer in the power box 3 connects and forms a plurality of robots through wireless signals through a wireless transmission module, the selected formation program of the plurality of robots is the prior art, and technicians in the field can select a proper program to load into the single chip microcomputer in the power box 3;

a2, then performing robot cooperative connection to activate ultrasonic ranging sensors on a plurality of robots, and then gradually moving the surrounding robots to approach the power box 3 by taking the power box as a center until the distance between the two robots is less than 10 cm;

3, then activating the laser distance measuring sensor 6 on one robot bottom plate 2 and the laser receiver on the other robot, the robot at the center is fixed, the bottom plate 2 is rotated by controlling the first motor 101 in the electric vehicle main body 1 to work, during the rotation, the laser distance measuring sensor 6 continuously measures the distance between two adjacent robot bottom plates 2, the rotating angle of the first motor 101 when the laser distance measuring sensor on the bottom plate 2 detects the shortest distance is recorded, the data when the laser receiver detects the laser distance measuring sensor is selected, then the first motor 101 is controlled to work, the bottom plate 2 is rotated to the angle, at the moment, the isolating pipe 503 on one shaft tube 5 is matched with the parallel connection pile 7 on the other shaft tube 5, then the electric push rod 507 works to push the butt joint plate 506 out of the connection pile 504 and is clamped with the connection plug 702 on the parallel connection pile 7, at this time, the solenoid valve on the fixed pipe 703 is opened, so that the storage tank 501 is communicated with the other storage tank 501 through the isolation pipe 503 and the parallel connection pile 7, and the storage tanks 501 of the two robots are shared;

a4, after the multiple robots are cooperatively connected, the robot at the center position is used as an operation terminal, after receiving an instruction, the peripheral robots synchronously move and move in a formation of one robot, after the multiple robots are combined, the bottom plates 2 on the robots are combined to form a large-range plane, so that the bearing area of the robots is increased, and the cooperatively moving robots can be matched with and transport large-volume objects;

a5, when fire occurs, the robots are connected in pairs by the method, the shaft cylinders 5 of the robots are connected in series, then the technician controls the robots to move and separate, at the moment, the sleeve 502 rotates, the isolation pipe 503 is paid out, the singlechip controls the second motor 302 to work during the paying out process, the sleeve 502 rotates synchronously, the isolation pipe 503 is stretched and extended, an isolation belt is formed between the isolation pipes 503 of the two electric vehicle main bodies 1, the high-pressure pump in the storage tank 501 works during the moving process of the electric vehicle main body 1, the fire retardant in the storage tank 501 enters the isolation pipe 503, when the fire retardant is required to be sprayed around the isolation pipe 503, the electromagnetic valve in the parallel pile 7 is closed, one end of the isolation pipe 503 is sealed, the fire retardant is separated from the one-way valve on the isolation pipe 503, the fire retardant is sprayed around the isolation pipe 503, the spraying process is matched with the electric vehicle main body 1 to move, the fire retardant can be sprayed into the fire retardant belt by a plurality of robots which move in coordination, and the fire retardant belt formed by the fire retardant sprayed on the ground can prevent the fire from spreading.

This scheme can realize through a plurality of industrial robot concerted motion, makes a plurality of robots marshalled into a team, and a team of robot can merge and carry out concerted motion as a whole, and the robot formation after the combination can carry out operations such as transportation in coordination, and can stretch its inside isolation tube 503 after the robot formation after the combination expandes, makes and forms the median between two robots to carry out regional isolation when the conflagration, accessible isolation tube 503 sprays the fire retardant to around, in order to prevent the fire behavior and enlarge.

The foregoing is only a preferred embodiment of the present invention; the scope of the invention is not limited thereto. Any person skilled in the art should be able to cover the technical scope of the present invention by equivalent or modified solutions and modifications within the technical scope of the present invention.

Claims

1. The utility model provides a multisensor industrial robot concerted movement device, includes electric motor car main part (1), its characterized in that: the upside of electric motor car main part (1) is equipped with bottom plate (2), be connected with headstock (3) between electric motor car main part (1) and bottom plate (2), the upside of bottom plate (2) is equipped with roof (4), be connected with beam barrel (5) between bottom plate (2) and roof (4), bin (501) is installed in beam barrel (5), it has sleeve pipe (502) to rotate on bin (501) outer wall, the winding has stand-off pipe (503) on sleeve pipe (502), fixedly connected with connection stake (504) on the outer wall of bin (501), the one end that storage bin (501) were kept away from to connection stake (504) is opened the chisel and is had the mounting groove, it has butt joint (505) to peg graft in the mounting groove, the one end and the stand-off pipe (503) fixed connection of butt joint (505), the other end fixedly connected with butt joint board (506) of butt joint (505), a pair of electric push rods (507) are connected between the butt joint plate (506) and the connecting piles (504); the outer wall of the shaft barrel (5) is fixedly connected with a parallel pile (7);

the power box (3) comprises a shell (301) rotatably connected with the electric vehicle main body (1), a first motor (101) is installed in the electric vehicle main body (1), the power output end of the first motor (101) is fixedly connected with the power box (3), and an ultrasonic ranging sensor is installed in the shell (301); a second motor (302) is installed in the shell (301), a driven wheel is fixedly connected to the bottom end of the sleeve (502), a driving wheel is fixedly connected to the inner wall of the shaft barrel (5), a transmission belt is connected between the driving wheel and the driven wheel, and the driving wheel is fixedly connected with a power output end of the second motor; fixedly connected with a plurality of laser range finding sensors (6) on the outer wall of bottom plate (2), laser range finding sensor (6) set up to five, five laser range finding sensor is located bottom plate (2) respectively and with parallelly connected stake (7) matching five outer walls on, and with spacer tube (503) position assorted bottom plate (2) outer wall middle part fixedly connected with laser receiver.

2. The cooperative motion device of a multi-sensor industrial robot according to claim 1, characterized in that: the top of roof (4) is opened and is chiseled there is the mounting groove, install a plurality of data interface in the mounting groove, fixedly connected with conduit in bin (501), be connected with the cable that runs through the conduit between data interface and headstock (3).

3. The cooperative motion device of a multi-sensor industrial robot according to claim 1, characterized in that: the electric vehicle is characterized by comprising a control system, wherein the control system comprises a single chip microcomputer installed in a power box (3), and the electric vehicle main body (1), an air pump (701) and a shell (301) are all in signal connection with the single chip microcomputer.

4. The cooperative motion device of a multi-sensor industrial robot according to claim 1, characterized in that: install air pump (701) in bin (501), the one end of keeping away from bin (501) of parallelly connected stake (7) is opened and is dug there is the draw-in groove, joint has connecting plug (702) in the draw-in groove, fixedly connected with and the communicating solid fixed pipe (703) of air pump (701) on connecting plug (702).

5. The cooperative motion device of a multi-sensor industrial robot according to claim 1, characterized in that: the control method comprises the following steps:

a1, when a plurality of robots move cooperatively, the single chip microcomputer in the power box (3) connects a plurality of robots through wireless signals and forms a team through a wireless transmission module;

a2, then performing robot cooperative connection to activate ultrasonic ranging sensors on a plurality of robots, and gradually moving the surrounding robots to approach the power box (3) by taking the power box as a center until the distance between the two robots is less than 10 cm;

a3, then activating a laser ranging sensor (6) on a robot bottom plate (2) and a laser receiver on another robot, when the laser ranging sensor (6) is matched with the laser receiver, an isolation tube (503) on one shaft barrel (5) is matched with a parallel pile (7) on the other shaft barrel (5), then an electric push rod (507) works to push the butt joint plate (506) out of the connecting pile (504) and clamp the connecting plug (702) on the parallel pile (7), and at the moment, the storage boxes (501) of the two robots are fixed to be common;

a5, when fire occurs, the robots are connected in pairs by the method, the shaft cylinders (5) of the robots are connected in series, then the technicians control the robots to move and separate, at the moment, the sleeve (502) rotates to pay off the isolation pipe (503), so that the isolation pipe (503) is stretched and extended, and isolation belts are formed between the isolation pipes (503) of the two electric vehicle main bodies (1).