RU173935U1 - USE LOAD STABILIZATION DEVICE FOR ROBOTIC SYSTEMS - Google Patents

Abstract

The utility model is intended for installation on robotic systems, in particular, for avionics of aircraft, as well as to ensure the positioning of video cameras and thermal imaging cameras. The technical result consists in expanding the arsenal of technical means by creating a stabilization design in the form of a separate module installed on robotic systems that provides payload control and fixing its position in space. The device comprises a fixed flange, as well as a payload mounting box, interconnected by means of an arm equipped with a load-bearing bearing element and side holders, and azimuthal and elevation control motors connected to it and stabilize the payload. In this case, the angular engine is placed on the axis of the box opposite with the elevation sensor. The azimuthal motor is connected to the flange through the stator, while the rotor is mounted on the bracket through the element to be glued and the axis of the azimuthal motor. The box is equipped with an emphasis restricting the rotation of the payload in the elevation angle, and the flange and bracket are equipped with mating rotation limiters made to enable engagement to prevent scrolling. 16 s.p. f-ly, 12 ill.

Description

Purpose and scope

The claimed technical solution relates to the machine-building, instrument-making and transport industries, including the field of robotics, including means for ensuring the accurate positioning of video cameras, thermal imaging cameras and other payloads intended for installation on robotic systems, in particular, for aircraft avionics .

State of the art

The load stabilization device for various kinds of robotic systems, as a rule, is a rotary gyrostabilized platform, i.e. gyroscopic device for the spatial stabilization of any objects or devices, as well as for determining the rotation angles of the base on which it is installed. Devices of this type serve to stabilize the payload and to eliminate the influence of external influences leading the platform equipped with the payload from a predetermined position.

The hinged instrument container for aircraft is known from the prior art (railway "Aviation and Cosmonautics" No. 10, 2003, pp. 4 ... 7, article by V. Sinyavsky "From the second generation to the fourth. Modernization of the Mi-24 helicopter "), comprising a hollow body provided with one or more windows, predominantly in the form of a body of revolution, mounted on the aircraft with the possibility of limited controlled rotation in at least one coordinate plane, and a gyrostabilized platform that can be suspended in the body cavity and on a two-row spherical ball bearing, the center of the spheres of which is located outside the bearing and at least approximately coincides with the longitudinal axis of the housing, is equipped with a drive of limited precision rotation relative to the center of the spheres of the ball bearing in at least two coordinate planes and carries optoelectronic devices, for example, navigation, survey , rangefinder, etc. With all the advantages, this hinged instrument container has the following disadvantages.

The suspension of the gyrostabilized platform inside the hollow body of the mounted instrument container, made on the basis of a two-row spherical ball bearing, along with the advantages acquires the disadvantages caused by this ball bearing. So, the radius of the largest spherical rolling surface of the ball bearing, much smaller than the inner radius of the hollow housing, forces the ball bearing to be located only near the center of the housing cavity on a special additional supporting structure crossing this cavity. This greatly reduces the available usable space inside the container and, accordingly, complicates the layout of optoelectronic devices and cabling, forcing to increase the dimensions and weight of the container. In addition, this design significantly reduces the ability of the device to position and stabilize the payload, with a platform knitted with a gyro-stabilized image.

Moreover, from the prior art, information about systems containing a stabilization structure in the form of a separate module installed on robotic systems providing payload control (PN) and fixing its position in spaces is not known, which, in view of the foregoing, allows us to conclude the absence of analogues among the identified sources of information that could be taken as a set of essential features for the prototype.

The essence of the claimed utility model

The technical problem solved by the claimed utility model is to offer a simple, universal design of the device for stabilization of the payload for various purposes.

The technical result of the claimed utility model is to expand the arsenal of known technical means by creating a stabilization design in the form of a separate module installed on robotic systems that provides payload control (PN) and fixing its position in space.

The claimed technical result is achieved by using a device for stabilizing the payload for robotic systems, comprising at least a fixed flange for mounting on robotic systems, as well as a payload mount box interconnected by means of an arm provided with a load-bearing element and side holders , and the azimuthal and elevation engines for controlling and stabilizing the payload connected to it, while the elevation engine is placed on and the box opposite with an elevation sensor installed on the outer sides of the box through the coaxial axes of the box of the eye of the side bracket holders, and the azimuthal motor is connected to the flange through the stator, while the rotor is mounted on the bracket through the glued element and the axis of the azimuth motor rack, and the box is equipped with an emphasis restricting the rotation of the payload in the elevation angle, and the flange and bracket are equipped with mating rotation limiters, made with the possibility of engagement to prevent scroll scroll.

In a preferred embodiment of the utility model, the bracket is equipped with an azimuthal load, and the bottom of the box is equipped with an elevated load, providing the optimal weighting mode required to place the center of mass on the axis of rotation and achieve a constant moment of inertia during rotation, eliminating the imbalance in the operating mode.

In another preferred embodiment of the claimed utility model, the device is additionally equipped with protective cowl-cowls, which provide protection of the load cell from external factors (precipitation, dust and dirt) and reduce aerodynamic drag.

In yet another preferred embodiment, the design further comprises an azimuth-stabilization motor with an oppositely positioned azimuth-stabilization sensor mounted on the box along a vertical axis perpendicular to the elevation axis formed by the elevation motor and the sensor. In this case, the box is additionally equipped with a frame located on the outside, designed for mounting engines and sensors of the elevation and azimuth-stabilization axes, as well as the installation of adjacent cowls-fairings. At the same time, the frame is connected to the bracket through the engine and the sensor, and in one embodiment of the utility model there is an emphasis to limit the rotation along the angle axis. In yet another embodiment, the front cover of the cowling housing comprises a window cutout provided with a protective glass.

In one of the preferred embodiments of the utility model, the bracket according to any of the above embodiments is made with a dome bearing arch provided with a cylindrical protrusion from above with an opening along the upper base, provided with an axial ring, and also a side for gluing embedded elements and installation of cowls-fairings , where the board is equipped with side holders, with eyes that form guide holes for installing the elevation engine and sensor.

At the same time, the supporting arch of the bracket can be made of extruded, molded, cast, made, for example, of fiberglass, carbon fiber, composite polymer materials. In another possible embodiment, the flange, duct and cowls are similarly formed.

A brief description of the attached illustrative materials.

The claimed solution of the utility model is illustrated by the following drawings and graphic materials.

FIG. 1 - view of the claimed device (section)

FIG. 2 - box, general view

FIG. 3 - angle sensor, section

FIG. 4 - azimuthal engine, section

FIG. 5 - bracket: a) general view, b) bottom view

FIG. 6 - General view of the device with protective cowl-cowls

7 is a view of the claimed device. additionally equipped with a frame and an azimuth-stabilization motor (section)

FIG. 8 - azimuthal engine, section of a device equipped with an additional frame and and azimuthal stabilization engine (section)

figure 9 - visualization of the positioning of elevation, azimuthal and azimuthal stabilization engines

FIG. 10 - view of the device with an additional frame (general view from below, without covers)

FIG. 11 - visualization of the device with an additional frame

FIG. 12 is a view of a device. equipped with an additional frame and an azimuth-stabilization engine, equipped with protective cowl-cowls: a) side view, b) general view.

It should be noted that the accompanying drawings illustrate only some of the most preferred embodiments of the utility model and cannot be construed as limiting the content of the utility model, which includes other embodiments.

Utility Model Feasibility

As shown in FIG. 1-5 of the drawing in the present embodiment, the claimed payload stabilization device (PN) for robotic systems is a two-axis design in which two engines are installed - azimuthal to control the rotation of the PN along the azimuth axis and angular - to control the rotation of the PN along the elevation axis. In the present embodiment, both motors are rotary motors consisting of both a stator and a rotor. Moreover, the design of the claimed device provides for coaxial installation of elevation and azimuthal sensors for calculating rotation angles and roll along the azimuthal and elevation axes. The sensors are installed along the elevation and azimuthal axes of the structure and are equipped with axle parts with glued magnets that rotate in the direction of deviation along each axis. In the considered embodiment of the utility model, the PN stabilization device comprises a fixed flange for mounting on robotic systems, as well as a box for mounting the PN. In this case, the flange 1 is connected to the box 2 through two control and stabilization payload engines installed on the bracket 3 and the box 2 itself. These engines allow you to rotate the payload in azimuth and elevation. The axis of the box 2 on the one hand is an elevation sensor 4, which provides for the installation of a board for controlling the angle of rotation and the elevation engine 5 on the other hand.

The carbon engine and the angle sensor are installed on the main bearing element - bracket 3.

According to the stated decision. the bracket is a supporting element of the whole structure. Almost all structural elements are mounted on it. In the operation mode of the claimed device, the main load is distributed by design. bracket.

To provide the most optimal mode of stabilization of the position of the payload, the main body, bearing bracket element is preferably made in the form of a dome vault, where a cylindrical protrusion is formed in the upper part, with an opening at the top. The cylindrical protrusion is intended for installation, for example by gluing, of the axis of the bracket, for example, made in the form of a metal ring covering the protrusion on the outer and inner surfaces. A board is provided along the lower edge of the dome vault of the bearing part of the bracket, provided with downward oriented side holders with coaxially arranged eyelets for installing and through them elevation motor and sensor. On the upper edge, the board is made with the formation of an annular groove along the contour of the arch, which makes it possible to place embedded elements and adjacent cowlings-fairings. The dome dome of the bracket provides the possibility of perception by this design of large radial and axial loads, including alternating ones, along three coordinate axes with a minimum moment of resistance with a more rational placement of the bracket in the device.

The carbon engine and the angle sensor are mounted on the payload mount box. An emphasis 7 is also attached to the box, restricting the rotation of the PN in the box in an angle-place. The carbon sensor consists of an axis 8 at the end of which a magnet 9 is fixed, the sensor housing 10 and the sensor cover 11, its assembly assembly allows you to install a card for measuring the angle of rotation along the elevation axis 12.

The azimuthal motor consists of an azimuthal rotor and a stator.

The azimuthal rotor consists of a housing (not shown in FIGS. 1-12) made of electrotechnical metal by pressing or machining of metal, coils made by winding wires and motor boards. The space between the coils and the motor housing is filled with epoxy mixed with a microsphere. In this case, the azimuthal stator consists of (in Fig. 1-12 not shown) a body made of electrotechnical metal by pressing or machining of metal, neodymium magnets. The space between the magnets and the motor housing is filled with epoxy mixed with a microsphere.

The stator and rotor of the elevation motor are similar to the azimuthal motor, with a difference in sizes, the number of turns in the coils and the size of the magnets.

The rotor of the azimuthal motor 13 is mounted on the bracket 3 through the glued element 14 and the axis-strut of the azimuthal motor 15. Also, the stator of the azimuthal motor stator 15 is installed with the help of the axle-bearing axial element of the bracket 15. Bearings are mounted on the strut and the stator of the azimuthal motor 16 is put on. For fixing the engine on the axis of the stator axis of the azimuthal motor, a threaded locking ring is provided 17. An azimuthal axis 18 with a magnet at the end 19, which is designed for the rack-mounted board 20, which measures the rotation angle in azimuth, is also installed in the rack with fastening in the upper part of the glass.

A flange 1 is installed on the stator of the azimuthal motor 16. A rotation limiter 21 is mounted on the flange to prevent scrolling, which clings to the rotation limiter 22 mounted on the bracket 3.

 For optimal weight distribution, so that the center of mass is on the axis of rotation, as well as to achieve a constant moment of inertia during rotation and to eliminate imbalance, lead weights are used. The azimuthal load 23 is installed on the bracket 3, the other is the angular load 24 at the bottom of the box (depending on the mass of the used payload and its position in the box). Mounting is carried out, for example, on adhesive tape, fiberglass impregnated with epoxy resin is placed on top.

To protect the MO from external factors (precipitation, dust and dirt) and reduce aerodynamic drag, the claimed device can be equipped with protective cowl-cowls. Preferably, the structure of the structure includes: a top cover 25, a fairing front 26, a fairing rear 27 and a side 28 fairing. The fastening of these structural elements to the box is carried out, for example, using screws. However, other fastening methods known in the art may be used.

In the considered example of the implementation of the claimed utility model, the bracket, flange, duct, as well as the top cover, front, rear and side fairings of the cowls-fairings of the device are made of fiberglass, for example, by pressing in molds of epoxy-impregnated fiberglass and carbon fiber, which provides a significant reduction in the weight of the structure, while maintaining high strength and operational characteristics. These elements are less susceptible to corrosion, easy to maintain and, in case of failure of any of the structural elements, can be easily replaced without the need to replace the structure as a whole.

As shown in Figs. 7-12, the claimed utility model solution may further comprise an azimuth-stabilization engine 44 with an oppositely positioned azimuth-stabilization sensor 43 mounted on a box along a vertical axis perpendicular to the elevation axis formed by the elevation engine and the sensor, thereby realizing the possibility the implementation of a three-axis design in which two engines are installed - azimuthal to control the rotation of the payload along the azimuthal axis, angular - to control PN rotate along the elevation axis and azimuthal - stabilization. Each motor stands out of the stator and rotor. The design provides for the installation of elevation, azimuthal and elevation-stabilization sensors for calculating the rotation and roll angles along the azimuthal and elevation axes. The sensors are installed along the elevation, azimuthal and azimuthal stabilization axes of the structure and are equipped with axle parts with glued magnets that rotate in the direction of deviation along each axis. The control, in this case, consists of two functions - controlling the rotation along two axes and stabilizing (eliminating the rolls that arise during the movement of the robotic system). The control is carried out along the azimuthal (360 degrees) and elevation axes.

The presence of an azimuth-stabilization engine allows you to hold the PN with greater accuracy, while ensuring a higher degree of stabilization of the PN. For a more optimal placement of the azimuth-stabilization engine, in the preferred embodiment of this solution, the box structure is additionally equipped with a frame on which two motors are mounted - an angular and azimuth-stabilization engine. The fastening of protective cowls-fairings is also carried out on the frame, which provides the best performance characteristics of the structure, increases its controllability.

To ensure the most optimal mode of stabilization of the position of the payload, the bracket is equipped with an additional 45 azimuthal load to the previously considered elevated load mounted on the box, frame, and azimuthal load mounted on the bracket. Additional load can be made removable, with the possibility of balancing control.

As follows from the drawings shown in FIG. 7-12, the frame 42 consists of three prefabricated elements (assembled by a conductor), the main element 29, the upper bar 30 and the lower bar 31. The upper bar 30 and the lower bar 31 are designed for fastening fiberglass protective cowlings on them.

The frame 42, in turn, is mounted on the bracket 3 through an elevation motor 5 and an elevation sensor 4, which are the elevation axis.

An emphasis 7 is also mounted on the frame to limit the angle of rotation along the elevation axis and to prevent 360 degrees of rotation.

On the box 2, a front cover 32 (with an opening for the lens of the video camera) and a rear cover 33 are installed, fastened through an aluminum block 34 with an angle 35. A cut-out is provided in the upper cover of the cowling-protector for installing the connector 36. At the same time, the front cover is provided installation of a protective glass 37, which is fixed by the frame 38 to the screws. Sleeves 39 are mounted on the flange for mounting the device structure. The lids are fastened to the box using screws, the casing is fastened to the bracket with screws.

To control the device, four boards 40 are installed in the design.

Carbon and stabilization sensors are manufactured and assembled on the same principle and differ in front and rear covers for mounting to the corresponding parts.

The sensors consist of an axis 8 at the end of which a magnet 9 is fixed, the sensor housing 10 and the sensor cover 11, its assembly assembly allows you to install a card for measuring the angle of rotation along the elevation axis 12 (figure 3). The axis rotates on bearings 41 mounted in the sensor housing (Fig. 8).

The azimuth sensor is located at the top of the device. The housing of the sensor is the axis of the rack 15 of the azimuthal engine 6 (figure 4). The axle rack 15 is attached to the bracket with screws. The azimuthal sensor consists of an axis-rack 15 of the axis 18 with a magnet 19 fixed at the end, a bearing 41, an azimuthal board measuring the azimuthal angle of rotation 20 and is fixed in the upper part of the glass with screws (Fig. 8).

The claimed design of the PN stabilization device provides for the possibility of installing both a video camera with an optical 36x magnification, and a joint authorized thermal imager and a video camera (such as a pinhole) at the same time.

The manufacture of structural parts can be carried out industrially, for example, using the following technologies:

• molding of fiberglass bearing parts in molds (fiberglass material, carbon fabric);

• stamping of electrical metal for the manufacture of engine housings;

• turning and milling of metals for the manufacture of parts (material-aluminum, brass);

• winding of motor coils;

• casting lead into a mold;

• chemical coating of parts made of various metals;

• painting of protective cowlings-fairings.

The assembly of the structure from the parts is carried out, for example, by the mechanically-mechanical method according to technological processes and drawings.

The control of the payload consists in turning the payload mounted in the duct along the azimuthal and elevation axes using azimuthal and elevation engines. In stabilization mode - the mode is designed to hold and compensate for changes in the position of the PN arising as a result of external influences. Control mode - in this case, the position change is carried out according to the commands received by the electric motors, as a result of which the position of the payload along the azimuthal and elevation axes changes.

In the stabilization mode of the PN position, a feedback system is implemented. The position of the camera in space has been established - when the design position is changed, the control action is applied to the motors, indicating their rotation, the motors are rotated by a predetermined angle, the feedback sensors measure the angle of rotation and give information about the true angle of rotation, if necessary, the control action is repeated and the PN is deployed in given direction, position.

In control mode, the PN is rotated by the required angle along the elevation and azimuth axes.

Thus, the claimed solution of the utility model extends the arsenal of well-known technical means by proposing a stabilization design in the form of a separate module installed on robotic systems that provides control of the payload (PN) and fixes its position in space, including those that provide the optimal weighting mode required for placing the center of mass on the axis of rotation, and achieving a constant moment of inertia during rotation, with the elimination of the imbalance in the operating mode, with increasing accuracy p positioning of the PN, preventing its scrolling in the operating mode, the possibility of operating under the influence of significant external adverse effects.

Claims (17)

1. The device for stabilizing the payload for robotic systems, comprising at least a fixed flange for mounting on robotic systems, as well as a payload mount box, interconnected by an arm provided with a load-bearing element and side holders, and connected with it azimuthal and elevation engine control and stabilization of the payload, while the elevation engine is placed on the axis of the box opposite with elevation sensor installed from the outside the lateral sides of the box, through the coaxial axis of the box, the eyes of the side holders of the bracket, and the azimuthal motor through the stator is connected to the flange, while the rotor is mounted on the bracket through the glued element and the axis of the rack of the azimuthal motor, and the box is equipped with a stop that limits the rotation of the payload in the angle -seats, and the flange and bracket are equipped with mating limiters of rotation, made with the possibility of engagement to prevent scrolling. 2. The device according to claim 1, characterized in that the bracket is equipped with an azimuthal load, and the bottom of the box is equipped with an elevated load. 3. The device according to claim 1, characterized in that the device is additionally equipped with protective cowl-fairings. 4. The device according to claim 1, characterized in that it further comprises an azimuth-stabilization engine with an oppositely located azimuth-stabilization sensor mounted on the box along a vertical axis perpendicular to the elevation axis formed by the elevation engine and the sensor. 5. The device according to claim 4, characterized in that the box is additionally equipped with a frame located on the outside, designed for mounting motors and sensors of the elevation and azimuth-stabilization axes, as well as the installation of adjacent cowls-fairings. 6. The device according to claim 4, characterized in that the frame is connected to the bracket through an angular engine and a sensor. 7. The device according to claim 4, characterized in that the frame contains a stop to limit rotation along the elevation axis. 8. The device according to p. 5, characterized in that the front cover of the cowling-fairing contains a window cutout equipped with a protective glass. 9. The device according to any one of paragraphs. 1-8, characterized in that the bracket is made with a dome bearing arch, provided with a cylindrical protrusion on top with an opening on the upper base, provided with an axial ring, as well as a side for gluing embedded elements and installation of cowls-fairings, where the board is equipped with side holders, with eyes forming guide holes for installing the elevation engine and sensor. 10. The device according to claim 9, characterized in that the supporting arch of the bracket is molded. 11. The device according to claim 9, characterized in that the supporting arch of the bracket is cast. 12. The device according to claim 9, characterized in that the supporting arch of the bracket is made of fiberglass. 13. The device according to claim 9, characterized in that the supporting arch of the bracket is made of carbon fiber. 14. The device according to claim 9, characterized in that the supporting arch of the bracket is made of composite polymer materials. 15. The device according to any one of paragraphs. 12-14, characterized in that the flange, duct and cowls-fairings are made of fiberglass. 16. The device according to any claims. 12-14, characterized in that the flange, duct and cowls-fairings are made of carbon fiber. 17. The device according to any paragraphs. 12-14, characterized in that the flange, duct and cowl-cowls are made of composite polymer materials.

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