ACTIVE TRAILER FOR A GROUND ROBOTIC COMPLEX

Abstract

This utility model relates to trailer equipment. The technical result is to improve the cross-country capability of a ground-based robotic system with a trailer.The technical result is achieved due to the fact that an active trailer for a ground robotic complex comprises a supporting frame with an axle, configured to tow the ground robotic complex, left and right traction motors mounted on opposite ends of the axle, each of which comprises a built-in traction electric motor, and a flexible cable-loop configured to connect the traction motors to the on-board power supply system and the control system of the ground robotic complex, wherein the flexible cable-loop is provided with a connector for connection to a corresponding connector on the towing ground robotic complex, and the active trailer is configured to automatically turn on the traction motors upon receipt of a control signal from the control system of the ground robotic complex through the cable-loop. 2 c.p. fils, 1 fig.

Description

[0001] The utility model relates to ground-based robotic complexes and towing equipment for them, in particular to active trailers equipped with their own traction drives (wheeled or tracked), power to which is supplied from the towing ground-based robotic complex via a cable-loop, and is intended to improve the cross-country ability and traction properties of a road train on difficult-to-pass sections.

[0002] Various types of trailers for vehicles and robotic platforms are known from the prior art.

[0003] Passive trailers, which lack their own drive, are known. The disadvantage is reduced maneuverability on difficult terrain.

[0004] Active trailers with mechanical wheel drive from the tractor's power take-off shaft via a cardan shaft (SU 1808642) are known. A disadvantage is the complexity and bulkiness of the mechanical transmission.

[0005] Electric active trailers are known, containing their own energy source (batteries) and traction electric motors, such as the ZF Innovation Tractor electric trailer and the SPECPRICEP trailer. A disadvantage is the need for a separate battery, which increases weight and cost and requires separate charging.

[0006] The closest analogue (prototype) to the claimed utility model is the SPECPRICEP electric active trailer, which comprises a frame, in-wheel motors, and its own battery. The prototype's drawbacks include: the presence of its own battery, which limits its load capacity and requires recharging, as well as the lack of synchronization with the towing ground robotic system and automatic engagement in the event of slippage.

[0007] The technical problem is the creation of an active trailer for a ground-based robotic complex, which increases the cross-country ability of the road train on difficult terrain, but does not require its own autonomous power source, has a simplified design and is integrated with the control system of the towing ground-based robotic complex with the ability to automatically turn on when slipping.

[0008] The technical result is to increase the cross-country ability of a ground robotic complex with a trailer by increasing the total traction force and improving traction with the ground.

[0009] The technical result is achieved in that the active trailer for the ground robotic complex contains:

[0010] - a supporting frame with an axle, designed with the possibility of towing a ground robotic complex;

[0011] - left and right traction drives mounted on opposite ends of the axle, each of which contains a built-in traction electric motor, and the traction drives are designed with the possibility of being executed in the form of wheel motor wheels or caterpillar tracks with an individual drive;

[0012] - a flexible cable-loop designed with the ability to connect the traction motors with the on-board power supply system and the control system of the ground robotic complex, with the ability to transmit electrical energy and control signals, and the flexible cable-loop is equipped with a connector for connection to the corresponding connector on the towing ground robotic complex;

[0013] - in this case, the active trailer is designed with the ability to automatically turn on the traction motors when a control signal is received through the cable-loop from the control system of the ground robotic complex.

[0014] The utility model is illustrated by a drawing showing a general view of the active trailer coupled to a ground-based robotic system (using a wheeled version as an example). The drawing shows:

[0015] 1 - trailer supporting frame;

[0016] 2 - drawbar (coupling device);

[0017] 3 - left traction drive (motor-wheel or track drive);

[0018] 4 - right traction mover;

[0019] 5 - cable-loop;

[0020] 6 - connector for connection to the ground robotic complex;

[0021] 7 - ground robotic complex (towing complex);

[0022] 8 - control system of the ground robotic complex (conditionally, inside the complex).

[0023] Implementation of the utility model. The active trailer is connected via a drawbar (2) to the towing ground robotic complex (7). The cable-loop (5) is connected via a connector (6) to the on-board power supply system and control system (8) of the ground robotic complex. In normal mode, when moving on a level surface, the trailer's traction motors can be disabled. When moving On difficult terrain (sand, mud, inclines), the ground robotic system's control system analyzes data in real time: if an increase in the engine speed is detected without a corresponding increase in ground speed, as determined by the ground speed detection system, the system detects slippage of the ground robotic system's drive wheels or tracks. In response, the control system automatically activates the active trailer, sending a control signal and power to the traction motors via a cable harness, which begins rotating synchronously with the ground robotic system's drive motors. The trailer generates its own traction force, increasing the overall maneuverability of the road train.

[0024] Industrial applicability. The device can be manufactured from standard components: electric vehicle hub motors or track modules with electric motors, a flexible cable harness, a coupling device, and a steel frame. Assembly is possible at any mechanical engineering facility.

Claims

1. An active trailer for a ground robotic complex, comprising a supporting frame with an axle configured to tow the ground robotic complex, left and right traction motors mounted on opposite ends of the axle, each of which contains a built-in traction electric motor, and a flexible cable-loop configured to connect the traction motors to an on-board power supply system and a control system of the ground robotic complex, characterized in that the flexible cable-loop is provided with a connector for connection to a corresponding connector on the towing ground robotic complex, and the active trailer is configured to automatically turn on the traction motors upon receipt of a control signal from the control system of the ground robotic complex through the cable-loop.

2. An active trailer according to paragraph 1, characterized in that the traction drives are made in the form of wheel motor wheels.

3. An active trailer according to paragraph 1, characterized in that the traction drives are made in the form of caterpillar tracks with an individual drive.

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