CN209425476U - A kind of urgent anti-immersion system of wheeled robot - Google Patents
A kind of urgent anti-immersion system of wheeled robot Download PDFInfo
- Publication number
- CN209425476U CN209425476U CN201821896110.0U CN201821896110U CN209425476U CN 209425476 U CN209425476 U CN 209425476U CN 201821896110 U CN201821896110 U CN 201821896110U CN 209425476 U CN209425476 U CN 209425476U
- Authority
- CN
- China
- Prior art keywords
- immersion system
- wheeled robot
- chassis
- gas
- urgent anti
- 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.)
- Withdrawn - After Issue
Links
- 238000007654 immersion Methods 0.000 title claims abstract description 25
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 29
- 239000003795 chemical substances by application Substances 0.000 claims abstract description 7
- 239000000126 substance Substances 0.000 claims abstract description 7
- 238000006243 chemical reaction Methods 0.000 claims description 27
- 239000000843 powder Substances 0.000 claims description 9
- 229910000030 sodium bicarbonate Inorganic materials 0.000 claims description 5
- 230000008054 signal transmission Effects 0.000 claims description 2
- 230000005055 memory storage Effects 0.000 claims 2
- 239000007789 gas Substances 0.000 description 26
- CURLTUGMZLYLDI-UHFFFAOYSA-N Carbon dioxide Chemical compound O=C=O CURLTUGMZLYLDI-UHFFFAOYSA-N 0.000 description 11
- VEXZGXHMUGYJMC-UHFFFAOYSA-N Hydrochloric acid Chemical compound Cl VEXZGXHMUGYJMC-UHFFFAOYSA-N 0.000 description 9
- 229910002092 carbon dioxide Inorganic materials 0.000 description 5
- 239000001569 carbon dioxide Substances 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- UIIMBOGNXHQVGW-UHFFFAOYSA-M Sodium bicarbonate Chemical compound [Na+].OC([O-])=O UIIMBOGNXHQVGW-UHFFFAOYSA-M 0.000 description 2
- FAPWRFPIFSIZLT-UHFFFAOYSA-M Sodium chloride Chemical compound [Na+].[Cl-] FAPWRFPIFSIZLT-UHFFFAOYSA-M 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 239000000523 sample Substances 0.000 description 2
- TVEXGJYMHHTVKP-UHFFFAOYSA-N 6-oxabicyclo[3.2.1]oct-3-en-7-one Chemical compound C1C2C(=O)OC1C=CC2 TVEXGJYMHHTVKP-UHFFFAOYSA-N 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000001066 destructive effect Effects 0.000 description 1
- 230000002427 irreversible effect Effects 0.000 description 1
- 238000002386 leaching Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000003647 oxidation Effects 0.000 description 1
- 238000007254 oxidation reaction Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 235000017557 sodium bicarbonate Nutrition 0.000 description 1
- 239000011780 sodium chloride Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a kind of urgent anti-immersion systems of wheeled robot, including chassis, the bottom on chassis is provided with traveling wheel, chassis upper is equipped with wheel type machine human agent, urgent anti-immersion system is provided on chassis, urgent anti-immersion system includes gas generator, and gas generator side is connected with contact water sensor, and the other side is connected with air bag；The chemical substance that bulk gas is generated after haptoreaction is stored in gas generator, gas enters air bag support air vesicle and generates buoyancy.The utility model high reliablity, can effectively solve the problem of wheeled robot prevents chassis from intaking in deepwater environment, guarantees the safety of wheeled robot, prolongs the service life.
Description
Technical field
The present invention relates to the urgent anti-immersion systems of a kind of urgent anti-immersion system more particularly to a kind of wheeled robot, belong to
In robot building technical field.
Background technique
Water is a kind of conducting liquid, and can accelerate metal oxidation and rusting, has larger destructive power to wheeled robot inside,
It should prevent water from entering robot interior as far as possible.But in the wheeled robot of outside work possibly into water environment, water level mistake
Gao Shi, water can enter robot interior from robot chassis to cause irreversible damage to robot.Existing intelligence machine
National People's Congress part is to realize water-proof function by configuring the shell of waterproof material and high leakproofness, but this method is at high cost, and is transformed
Heavy workload.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the present invention provides a kind of wheeled robot and promptly prevents
Immersion system by the way of generating bulk gas after two kinds of chemical substances contact, introduces gas into air bag as wheel type machine
People provides buoyancy, and method is simple and easy, and low in cost, effect is good.
Technical solution: in order to solve the above technical problems, wheeled robot of the invention promptly anti-immersion system, including bottom
Disk, the bottom on chassis are provided with traveling wheel, and chassis upper is equipped with wheel type machine human agent, and urgent anti-leaching is provided on chassis
No device, urgent anti-immersion system includes gas generator, and gas generator side is connected with contact water sensor, another
Side is connected with air bag；
The chemical substance that bulk gas is generated after haptoreaction is stored in gas generator, it is big that gas enters air bag support
Air bag generates buoyancy.
First reaction vessel, which stands upside down, to be placed, and is connected between the first reaction vessel and the second reaction vessel by diversion pipe, water conservancy diversion
Motor-driven valve is installed, dilute hydrochloric acid solution can not flow out under electrically operated valve closed state, and motor-driven valve passes through dry contact signal among pipe
Transmission line is connect with contact water sensor, is controlled by dry contact signal.
Further, gas generator includes the first reaction vessel, and the first reaction vessel is reacted by diversion pipe with second
Reservoir.
Further, electrically operated valve is provided on diversion pipe, electrically operated valve is connected with one end of dry contact signal transmssion line,
The other end of dry contact signal transmssion line is connected with contact water sensor.
Further, it is connect by gas outlet pipe with air bag at the top of the second reaction vessel.
Further, HCl solution is stored in the first reaction vessel, the concentration of HCl solution is 6mol/L, and volume is
0.08L。
Further, NaHC0 is stored in the second reaction vessel3Powder, the NaHC03The quality of powder is 50g.
Shown in the reaction equation of chemical substance such as formula (1):
NaHCO3+HCl→NaCl+H2O+CO2 (1)
The operation principle of the present invention is that: contact water sensor is installed on the upward 30mm of wheeled robot tray bottom
Place, is detected using liquid conduction principle, when wheeled robot enters deepwater environment or its local environment generation flood, water level
When rising to contact water sensor mounting height, water sensor probe conducting, sensor exports dry contact signal.It executes
When motor receives dry contact signal, motor-driven valve is opened, and the HCl solution in upper container prolongs diversion pipe inflow under the effect of gravity
In lower reservoir, with the NaHC0 in container3Powder mixing, generates rapidly great amount of carbon dioxide gas.The carbon dioxide gas of generation
Body is entered in air bag by gas outlet pipe, and air bag is filled and pops up, and provides enough buoyancy for wheeled robot, can
It floats on the water surface, prevents water immersion chassis and enter robot interior.
The utility model has the advantages that (1) using chemical substance contact generate bulk gas principle, introduce gas into air bag to
Wheeled robot provides buoyancy, and method is simple, low in cost；(2) design has contact water sensor, can effectively perceive immersion
Danger, fast reaction improve working efficiency of the present invention；(3) high reliablity of the present invention can effectively solve wheeled robot in deep water
The problem of preventing chassis from intaking in environment, guarantees the safety of wheeled robot, prolongs the service life.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of gas generator in the embodiment of the present invention.
Fig. 2 is single unit system schematic diagram of the present invention.
In figure: 1 urgent anti-immersion system, 2 wheel type machine human agents, 3 chassis, 4 traveling wheels, 5 holders, 6 contact water loggings
Sensor, 7 dry contact signal transmssion lines, 8 electrically operated valves, 9HCl solution, 10 diversion pipes, 11NaHC03Powder, the discharge of 12 gases
Pipe, 13 air bags, 14 first reaction vessels, 15 second reaction vessels.
Specific embodiment
The present invention will be further explained with reference to the accompanying drawing.
Embodiment
The present invention provides a kind of wheeled robot promptly anti-immersion system, referring to fig. 2, including chassis 3, the bottom on chassis 3
It is provided with traveling wheel 4, chassis upper is equipped with wheel type machine human agent 2, is equipped with cradle head camera on wheel type machine human agent
5, urgent anti-immersion system 1 is provided on chassis, urgent anti-immersion system includes gas generator, the connection of gas generator side
There is contact water sensor 6, the other side is connected with air bag 13；A large amount of gas are generated after being stored with haptoreaction in gas generator
The chemical substance of body, gas enter 13 support air vesicle 13 of air bag and generate buoyancy.
Gas generator, referring to Fig. 1, including the first reaction vessel 14, the first reaction vessel 14 passes through diversion pipe 10 and the
The connection of two reaction vessels 15.Electrically operated valve 8 is provided on diversion pipe 10, electrically operated valve 8 is connected with dry contact signal transmssion line 7
One end, the other end of dry contact signal transmssion line 7 are connected with contact water sensor 6.Pass through at the top of second reaction vessel 15
Gas outlet pipe 12 is connect with air bag 13.HCl solution 9 is stored in first reaction vessel, the concentration of HCl solution is 6mol/L,
Volume is 0.08L.NaHC0 is stored in second reaction vessel3Powder 11, NaHC03The quality of powder is 50g.
First reaction vessel 14, which stands upside down, to be placed, and is connected between the first reaction vessel 14 and the second reaction vessel 15 by diversion pipe
It connects, electrically operated valve is installed among diversion pipe, HCl solution can not flow out under electrically operated valve closed state, and electrically operated valve passes through dry
Contact point signal transmission line 7 is connect with contact water sensor 6, is controlled by dry contact signal.Water level rises to contact water logging
When 6 mounting height of sensor, water sensor probe conducting, sensor exports dry contact signal.Actuating motor receives stem grafting
When point signal, electrically operated valve 8 is opened, and the HCl solution in upper container prolongs diversion pipe under the effect of gravity and flows into lower reservoir,
With the NaHC0 in container3Powder mixing, generates rapidly great amount of carbon dioxide gas.The carbon dioxide gas of generation passes through gas
Discharge pipe enters in air bag 13, and air bag 13 is filled and pops up, and provides enough buoyancy for wheeled robot, can float on
On the water surface, prevents water immersion chassis and enter robot interior.
The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should
Understand, the above embodiments do not limit the invention in any form, all obtained by the way of equivalent substitution or equivalent transformation
Technical solution is fallen within the scope of protection of the present invention.
Claims (6)
1. a kind of wheeled robot promptly anti-immersion system, including chassis (3), the bottom of the chassis (3) are provided with traveling wheel
(4), the chassis upper is equipped with wheel type machine human agent (2), and holder camera shooting is equipped on the wheel type machine human agent (2)
Head (5), it is characterised in that: urgent anti-immersion system (1) is provided on the chassis, the urgent anti-immersion system includes gas
Generator, the gas generator side are connected with contact water sensor (6), and the other side is connected with air bag (13)；
The chemical substance that bulk gas is generated after haptoreaction is stored in the gas generator, the gas enters air bag
(13) support air vesicle (13) generates buoyancy.
2. a kind of urgent anti-immersion system of wheeled robot according to claim 1, it is characterised in that: the gas occurs
Device includes the first reaction vessel (14), and first reaction vessel (14) is connected by diversion pipe (10) and the second reaction vessel (15)
It is logical.
3. a kind of urgent anti-immersion system of wheeled robot according to claim 2, it is characterised in that: the diversion pipe
(10) it is provided on electrically operated valve (8), the electrically operated valve (8) is connected with one end of dry contact signal transmssion line (7), described dry
The other end of contact point signal transmission line (7) is connected with contact water sensor (6).
4. a kind of urgent anti-immersion system of wheeled robot according to claim 2, it is characterised in that: the second reaction vessel
(15) top is connect by gas outlet pipe (12) with air bag (13).
5. a kind of urgent anti-immersion system of wheeled robot according to claim 2, it is characterised in that: first reaction
Container memory storage has HCl solution (9), and the concentration of the HCl solution is 6mol/L, volume 0.08L.
6. a kind of urgent anti-immersion system of wheeled robot according to claim 2, it is characterised in that: second reaction
Container memory storage has NaHC03Powder (11), the NaHC03The quality of powder is 50g.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821896110.0U CN209425476U (en) | 2018-11-16 | 2018-11-16 | A kind of urgent anti-immersion system of wheeled robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821896110.0U CN209425476U (en) | 2018-11-16 | 2018-11-16 | A kind of urgent anti-immersion system of wheeled robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209425476U true CN209425476U (en) | 2019-09-24 |
Family
ID=67969210
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821896110.0U Withdrawn - After Issue CN209425476U (en) | 2018-11-16 | 2018-11-16 | A kind of urgent anti-immersion system of wheeled robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209425476U (en) |
-
2018
- 2018-11-16 CN CN201821896110.0U patent/CN209425476U/en not_active Withdrawn - After Issue
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20190924 Effective date of abandoning: 20231212 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20190924 Effective date of abandoning: 20231212 |
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| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |