DE102009061844B3 - A method for operating a self-sufficient tracking wheel drop device of a vehicle, comprising a self-sufficient tracking device changing device - Google Patents

Abstract

A method for operating an autarkically operating tracer wheel drop device of a vehicle (11) comprising a likewise autarkically functioning tracer wheel changing device for a tracer wheel (5) detachably attached to a wheel axle of a tracer arm (13), a tracer wheel magazine (11) being attached to a rear (10) of the vehicle (11). 1) for the storage of interchangeable tracking wheels (5 ') and a wheel changing unit (3) are provided, the tracking wheel (5) - from a tracking position in which a probe (4) for measuring contamination, the wheel changing unit (3) and a safety fork (2) are each in a neutral position, - in a wheel detection position (6), in which the safety fork (2) and the probe (4) are in their wheel detection position, the probe (4) in the wheel detection position (6 ) of the track wheel (5) is brought to this and a measurement is made, and - in a wheel change position (15), into which the catch fork (2) for changing the contaminated track wheel (5) is transferred and swiveled up and is locked, the spur wheel arm (13) with the spur wheel (5) to be changed, either together with the safety fork (2) or individually by pivoting separately into the wheel change position (15), is transferred, the spur wheel (5) in the wheel change position (15) is interchangeable, the tracer wheel (5) being automatically detached from the wheel axle and thrown off by an autarkic facial expression and then changed in a second step, the autarkic facial expression being able to release and lock the tracer wheel (5), whereby the Spürradmagazin (1) is started by the wheel changing unit (3), which has means with which one of the changing tracking wheels (5 ') is gripped in order to place it on the wheel axle, the wheel changing unit (3) being a gripper (3) , andwherein the interchangeable tracer wheels (5 ') are standardized and arranged in the tracer wheel magazine (1) that the interchangeable tracer wheels (5') are lifted out of the tracer wheel magazine (1) by the gripper (3) and onto the empty wheel axle of the Detector arm (13) a let sit down.

Description

The invention relates to a remotely controllable, self-sufficient tracking wheel dropping device and a tracking wheel changing device on a vehicle or object for use in contaminated terrain.

Detection vehicles for detecting nuclear, biological and / or chemically contaminated air and / or soil are known. A tracer tank known by the name “Fuchs” is produced by the applicant. Such ABC (AB, AC, BC) detection vehicles have a wheel construction at the rear of the vehicle with usually two detection wheels for collecting contaminated soil particles, which are then lifted and fed to a sensor device. In wheel detection mode, the silicon-coated detection wheels are pulled behind the moving vehicle. Contaminated tracking wheels must, however, be changed after each sample collection in order to be able to carry out further measurements. This is currently done through an opening integrated in the stern, from which a so-called glove tube is passed, into which a person can reach with his left hand, for example to take contaminated samples. Associated with this is a certain amount of space required for the person in the rear area, who usually performs the work lying down, which also leads to an abnormal working posture.

In the endeavor to make lighter and smaller ABC vehicles, however, such a reserve of space is no longer feasible.

The DE 42 38 399 C1 describes a detection device with two detection wheels each rotatably mounted on a detection wheel arm (2). The tracking wheels are replaced manually with the help of hand and arm protection.

US H431 discloses a tracer device for taking soil samples with exchangeable tracer wheels and a probe for contacting the tracer wheels.

The invention has the task of conceiving a possibility that only requires a small amount of space.

The object is achieved by the features of claim 1.

The invention is based on the idea of showing a self-sufficient tracking wheel drop device, by means of which it becomes possible in the second step to create a self-sufficient tracking device changing device. For this purpose, the tracking wheels are automatically detached from the wheel axle and thrown off by a self-sufficient facial expression and then changed in the second step. The self-sufficient facial expression must therefore be able to release and lock the wheels. In a simplest variant, this would be possible, for example, by a so-called ball lock pin or the like. Unlocking could take place when the wheel is swiveled up so that the wheel is then free on the axle. In a simplest variant, unlocking can be implemented when the wheel is guided along a structurally integrated edge of the vehicle or object. This sinks the two balls that hold the wheel on the axle. An electromagnetic solution or the like is also conceivable. The exposed wheel can then be removed, simply dropped, or caught.

In order to implement the automatic and remotely controllable tracer wheel release, an (existing or retrofittable) catch fork is transferred to a wheel change position. In this position of the tracking wheels, the contaminated tracking wheel is thrown off by a device or removed from the axle and for example placed in a container. This catch fork is preferably arranged centrally between the two tracking wheels, the tracking wheels themselves can be pivoted into this central position.

To fulfill the second task, namely the fitting of a new tracking wheel, a tracking wheel magazine is also provided for storing the non-contaminated (reserve or changing) tracking wheels. This tracking wheel magazine is started by a changing device which has means with which the changing tracking wheel is gripped.

For this purpose, the changing device is preferably guided along a rail in order to be able to move to different positions or stations. These stations are primarily: Detector arm, discharge position (or container position) and reserve magazine. The same changing device can also be used to remove the contaminated tracking wheel.

According to the invention, the wheels are standardized and arranged in the magazine in such a way that they can be lifted out of the magazine by the gripper and placed on the empty wheel axle of the tracer arm. So that z. If, for example, the silicone coating of the new tracer wheel is not touched, the gripping device can be, for example, a parallel gripper (tong-like) that engages the tracer wheel and pulls the tracer wheel out of the magazine. In order to be able to grip the wheels from above, the gripper should be pivotable about an axis parallel to the direction of travel. It must be possible to open the jaws of the gripper so that it is possible to grasp the wheel
Destruction of the silicone layer of the replacement wheel and thus a spread of contamination can be excluded.

Gripping is preferably controlled by a motor and a program. Operation takes place via a display and / or an operating unit. However, manual control, for example via a camera view, is also possible as an alternative. A camera is provided for surveillance purposes anyway.

The attached wheel is locked again at the latest when the tracer arm with the changed wheel is removed from the safety fork.

In addition to saving space in the vehicle, this design is characterized by the fact that wheel changes can now take place automatically. There are no openings at the rear, which can cause leakage problems. Furthermore, the ballistic protection is increased in this area. From an ergonomic point of view, the operator can work better. This no longer has to be on the floor of the vehicle and the operator's arm length is no longer important.

In connection with the functionality of the tracking wheels for the actual measurement, the integration of an adjustable sensor / probe unit is provided. Previously, to adjust the probe unit (e.g. a mass spectrometer), a mechanical lock had to be released in order to then move the probe into the desired position (air tracking, wheel tracking). The probe was then locked again. In the case of ground detection, the probe also had to be aligned with the ground with constant ground pressure.

This rotatable and swiveling sensor / probe unit replaces manual handling and is moved into the appropriate positions depending on the task. For measurement in the wheel tracking position, the probe is swiveled to the tracking wheel, for positioning the safety fork in the wheel changing position it is brought back into a neutral position and for air or ground tracking in the corresponding measurement position.

The rotating and swiveling unit is used to position the probes for point sensing, wheel sensing, air sensing and temperature sensing. For point sensing, the unit or the air / soil probe is brought close to the subsurface and, depending on the sensor or probe type, a constant contact pressure is applied. It is also advantageous that a constant ground pressure can now be better generated if the probe is aligned with the ground. To detect the air, the same probe is placed at a distance from the ground.

With these measures, a multifunctional rear is created. The probe (s) can be automatically aligned in their measuring positions and the tracking wheel change, as well as the positioning and lowering of the probe, takes place automatically and remotely.

Another advantage results from the fact that the tracking wheels can now be arranged at the rear independently of the accessibility of an operator to these tracking wheel arms. The number of detection wheel arms can also be increased from two to more. Here, only the construction of the rotatable and swiveling probe holder has to be coordinated with the number and possibly an additional fork is provided for the changing device.

The present solution not only saves space in the vehicle, it also offers greater convenience for operating the vehicle.

• 1 die Grundstellung der Spürräder am Boden,
• 2 die Funktionsstellung beim Radspüren,
• 3a bis 3c einen Funktionsablauf des Radwechsels,
• 4 eine dreh- und verschwenkbare Sondeneinheit.

The invention is to be explained in more detail on the basis of an exemplary embodiment with a drawing. It shows:

• 1 the basic position of the tracking wheels on the ground,
• 2 the functional position when wheel tracking,
• 3a to 3c a functional sequence of the wheel change,
• 4th a rotatable and pivotable probe unit.

In 1 is according to the invention with 1 a tracking wheel magazine at the rear 10 of a vehicle 11 for storage of interchangeable tracking wheels 5 ' designated. A fishing fork 2 is in a neutral position. Preferably above the magazine 1 is a wheel changing unit 3rd , shown here in the neutral position. The wheel changing unit 3rd is according to the invention a gripper, in particular a parallel gripper. With 4th a unit is characterized which comprises sensors or probes (not shown in detail) for measuring the contaminations (at least A and C). In the present case it is a mass spectrometer which fulfills the task of chemical contamination measurement. The probe 4th is in a neutral position, the tracking wheels 5 in their sensing positions. They are detachable on an axis of a pivotable tracking wheel holder or the tracking wheel arm 13th attached.

2 shows the function of wheel tracking. The fishing fork 2 as well as the probe 4th are in the so-called wheel tracking position. The one tracking wheel 5 is in the probe or wheel detection position 6th convicted, the other remained in the sensing position. For swiveling the probe 4th from the neutral position to the wheel detection position, this is preferably a turning and swiveling unit 14th executed. In the neutral position, the unit can 4th directly on or in a recess 12th at the stern 10 are located. The probe 4th is in wheel tracking mode to the tracking wheel 5 in the wheel tracking position 6th spent, the measurement is conventional.

To change the contaminated tracking wheel 5 becomes the fishing fork 2 in the wheel change position 15th transferred, ie swiveled up and locked. This can be done immediately after the measurement or at a later point in time. The tracer arm 13th with the tracer wheel to be changed 5 either comes together with the fishing fork 2 in the wheel change position or can be changed individually by pivoting the tracer arm 13th get into this position separately.

For example when swiveling the wheel up 5 then becomes a ball lock pin 7th ( 3b) or the like on the edge (for example a beveled sheet metal) of the tracking wheel magazine 1 unlocked, causing the two balls that make up the tracking wheel 5 otherwise hold on to the axle, be sunk and the wheel 5 freely on the axis of the tracer arm 13th lies. The gripper 3rd positions itself above the tracking wheel 5 , turns and grabs the wheel 5 preferably on its rim. Then he pulls the contaminated wheel 5 off the axis and drop it in its simplest form. Alternatively, the wheel 5 also in a container at the stern 10 are collected (not shown in detail).

To put on a new bike 5 ' from the tracking wheel magazine that is open for change 1 becomes the gripper 3rd about this magazine 1 positioned so that it is preferably the closest tracking wheel 5 ' can grip, the gripper jaws preferably around the wheel 5 ' attack the rim without affecting the wheel surface of the tracking wheel 5 ' Destroy the silicone layer and remove it from the magazine 1 can lift. After that the gripper 3rd shifted or traversed (first traversing direction) until wheel 5 ' and gripper 3rd above the axis of the tracer arm 13th and the gripper 3rd is lowered until the wheel hub of the wheel 5 ' and the spur wheel axis are aligned in one plane. The new bike 5 ' is then pushed onto the wheel axle, including the gripper 3rd is moved against its first direction of travel again. The gripper jaws of the gripper 3rd are now moved apart and this is returned to its neutral position. When the tracer arm 13th lowers again, there is no pressure on the release mechanism of the ball lock pin 7th , the new tracking wheel 5 ' is locked.

The rotating and swiveling device 14th the probe 4th can also be used to keep the probe 4th or the probe head 4.1 into the individual positions for point sensing, for air sensing and for temperature sensing is transferred ( 4th ).

1. 1. Fahrt ohne Messung (Transportstellung bzw. Neutralposition).
2. 2. Luftspüren (während der Fahrt und im Stand).
3. 3. Großflächiges C-Bodenspüren (während der Fahrt).
4. 4. Punktspüren (im Stand).

The rotating and swiveling device 14th can be adjusted in three different and independently movable degrees of freedom. The height is adjusted by a linear guide, with which four operating states can be approached:

1. 1. Travel without measurement (transport position or neutral position).
2. 2. Detecting air (while driving and when standing).
3. 3. Large-area C-floor sensing (while driving).
4. 4. Point sensing (while standing).

The probe head is in the transport position 4.1 an air-ground probe retracted in the uppermost position. The probe head leaves to detect air 4.1 the rear attachment so that the ambient air reaches the probe head 4.1 can achieve without impairment. The probe head is used to sense the ground over a large area 4.1 lowered about halfway up. In this position (wheel tracking) the probe can 4th when using the tracking wheels 5 be approached centrally by both. The probe turns into point sensing 4.2 (Floor temperature sensor) except for
the floor extended and placed on it. In principle, the probe 4.2 can be moved parallel to the floor using horizontal adjustment options before being placed on the floor. The movement of the probe head 4.1 in the plane parallel to the ground occurs through a rotation around the z-axis, whereby the distance from the z-axis can also be changed. By combining these two movements, the probe can 4th at any location within an area, for example up to 1 m ² , perpendicular to the ground 16 can be put on without having to move the vehicle itself. The probe movement can be controlled from the vehicle 11 or object from different operator stations. For example, from the commandant's workstation computer or from the tracer.

A good view of the area under investigation and the probe 4th and the wheel change itself is supported by at least one camera, preferably two. The contact pressure of the probe head 4.1 on the floor can be regulated by the user and monitored by the system.

At the probe 4th Furthermore, a floor temperature sensor can be attached to the opposite end of the cross member. The adjustment device is used to measure the floor temperature 14th moved to the lowest position, just above ground level and lowered the sensor further with a suitable device. If the contact with the ground is sufficient, an integrated limit switch, for example, ends the lowering process.

Claims (1)

A method for operating a self-sufficient tracer wheel shedding device of a vehicle (11) comprising a tracer wheel changing device, which also functions autonomously, for a tracer wheel (5) which is detachably attached to a wheel axle of a tracer arm (13), at a rear (10) of the vehicle (11) a tracking wheel magazine (1) for the storage of change tracking wheels (5 ') and a wheel changing unit (3) are provided, the tracking wheel (5) - from a sensing position in which a probe (4) for measuring contamination, the wheel changing unit (3) and a safety fork (2) are each in a neutral position, - In a wheel detection position (6), in which the fishing fork (2) and the probe (4) are in their wheel detection position, the probe (4) in the wheel detection position (6) of the detection wheel (5) being brought to this and a Measurement takes place, and - In a wheel change position (15), in which the fishing fork (2) is transferred to change the contaminated tracking wheel (5) and is swiveled up and locked, the tracking wheel arm (13) with the tracking wheel (5) to be changed either together with the fishing fork (2) or individually by pivoting separately into the wheel change position (15), is transferred, the tracking wheel (5) being exchangeable in the wheel change position (15), the tracking wheel (5) being automatically detached from the wheel axle and thrown off by a self-sufficient facial expression and then changed in a second step, the self-sufficient facial expression being the tracking wheel ( 5) can release and lock, whereby the track wheel magazine (1) is started by the wheel change unit (3), which has the means with which one of the change track wheels (5 ') is gripped in order to place it on the wheel axle, wherein the wheel changing unit (3) is a gripper (3), and the interchangeable tracking wheels (5 ') being standardized and arranged in the tracking wheel magazine (1) so that the changing tracking wheels (5') are lifted out of the tracking wheel magazine (1) by the gripper (3) and onto the empty wheel axle of the tracking wheel arm Let (13) put on.

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