RU2783560C1 - Robotic multifunctional tractor-atv - Google Patents

Abstract

FIELD: vehicles.

SUBSTANCE: invention relates to vehicles with automated control. The robotic multifunctional tractor-all-terrain vehicle includes a body in the form of a platform with running wheels and an engine, a hydraulic pump and a bucket blade installed in the body. Inside the housing, a compressor, an electro-hydraulic distributor of the transmission and an electro-hydraulic distributor for controlling the bucket blade and a manipulator boom with a working body, a control unit, a plasma unit, and a welding unit are additionally installed. At the rear of the tractor there is a hydraulic outlet, a control panel and a manipulator boom with a working body. On both sides of the hull, independent movable sides are installed, on which the rear running wheels are fixed with the help of motor-reducers. At the place of their attachment to the board, the hull is equipped with 180° side turntables. In front of the housing there is a drive wheel, which has a smaller diameter than the running wheel.

EFFECT: design is simplified.

8 cl, 14 dwg

Description

The invention relates to vehicles with automated control, and can be used in the implementation of road construction work, when performing railway work (replacement of sleepers, straightening, ballasting tracks, etc.), construction work (leveling the construction site, cutting piles, site preparation according to design marks, etc.), and also has the ability to move over rough terrain with obstacles.

A universal robotic transport platform is known (RU No. 177591 B62D 63/02, G05D 1/02, published on 03/01/2018) which contains a supporting body, a battery pack, a passive and active drive chassis, a control controller with a memory device, a machine vision camera , orientation sensor and laser security system. The digital radio communication node is connected to the control controller and is configured to exchange messages using a fixed protocol with other robotic systems and a control point. The control controller is configured to change the route of movement and calculate the optimal route to the destination point, as well as correct the movement based on deviations in the readings of the odometer sensor and the orientation sensor from the values stored in the memory for the current trajectory point.

A disadvantage of the well-known universal robotic transport platform is the possibility of its limited use as part of organized groups of robots operating in a dedicated area of workshops (warehouses) of industrial enterprises.

Known tractor "MTZ-1025 - a popular model of the Minsk Tractor Plant. The scope of this tractor covers all areas of activity, from agriculture to various industries. But his main work is still work in the field: lust, cultivation, harrowing, work on caring for crops, inter-row processing of vegetables and harvesting. The tractor is all-wheel drive. The rear driving axle is equipped with planetary wheel reduction gears. The differential is self-locking, controlled by the system. The front axle has two modes of operation: on, automatic. In automatic mode, it turns on when necessary, for example, when the rear wheels slip. In case of uselessness, the front axle can be completely disabled. The most important components of the axle are: self-locking differential, two-turn pins and cylindrical planetary gears. Source: https://tractorreview.ru/traktory/mtz/mtz-1025-tehnicheskie-harakteristiki.html

The disadvantage of the known tractor is a larger turning radius, a small angle of rise, has the ability to overturn, the complexity of the design.

Also known wheeled excavator-loader JCB 3CX, the design of which allows using one machine to combine the implementation of such works as excavation, territory planning, loading of bulk materials, movement of goods. The backhoe loader is equipped with a bucket blade at the front side with the function of adjusting the angle and height of the hydraulic drive, with application for leveling or transporting materials; equipped with an excavator bucket at the back, for earthworks. Structurally, a support system is provided to fix the machine from displacement during excavation. The presence of two drive controlled axles allows you to turn the front and rear wheels in different directions. Such features ensure the machine's patency on difficult soils, when working on multi-level construction sites. (https://exkavacia-grunta.ru/jcb-3cx-parameters).

The JCB 3СХ backhoe loader has a fairly high performance, large payload, convenient shifting of all gears and an improved hydraulic system and, accordingly, the ability to work in large open areas. The main disadvantage of the known tractor is the inability to carry out work in a limited space and the complexity of the design.

The technical problem solved by the invention is to create a small-sized robotic multifunctional tractor-all-terrain vehicle with the largest amount of work and functions performed, and a simplified design with improved running and technological capabilities.

The existing technical problem is solved by the fact that a robotic multifunctional tractor-all-terrain vehicle, including a body with running wheels and installed in the body: an internal combustion engine, a gas tank, an oil tank, a water cooling radiator, a generator, a hydraulic pump and a bucket blade located on the front side, with a hydraulic control function angle and height drive, and on the rear side - a boom-manipulator with a working body, according to the invention, the body is made in the form of a platform, inside which are additionally installed a compressor, an electric hydraulic distributor for the transmission and an electric hydraulic distributor for controlling the bucket blade and a boom-manipulator with a working body, a control unit , a plasma unit, a welding unit, and in the rear of the tractor there is a hydraulic outlet for connecting hydraulic tools, a control panel, and with the help of a bracket, a manipulator with a working body is attached to the body, which has the ability to move along the mountains. umbrellas along the horizontal guides installed in the body, and the possibility of lifting and lowering - along the curvilinear guides installed in the body, while on both sides of the body independent movable sides are installed with the possibility of fixation, on which, with the help of motor-reducers connected to hydraulic motors, rear running gears are fixed wheels, and at the place of their attachment to the board, the hull is equipped with 180° side swivel devices, and the drive wheel is installed in the center of the front part of the hull, in addition, the tractor-all-terrain vehicle is equipped with terrain and geolocation sensors, position sensors of working bodies in space, side position sensors.

The driving wheel has a smaller diameter than the running wheel and is fixed to the body with a steering knuckle and a hub in which a hydraulic motor is installed.

The bucket blade is made of two movable parts, with the possibility of forming an acute or obtuse angle between them.

The manipulator boom is made folding with the help of hydraulic cylinders.

A working body in the form of an excavator bucket is attached to the boom-manipulator. A working body in the form of a hydraulic hammer is attached to the boom-manipulator. A working body in the form of a hydraulic drill is attached to the boom-manipulator. A working body in the form of hydraulic tongs is attached to the boom-manipulator.

The technical result obtained by using the proposed invention is that the all-terrain tractor works remotely from the operator, has a simple design and has a large scope of functions and work performed.

One of the advantages of the robotic multifunctional tractor-all-terrain vehicle (RMTV) is the absence of a cab, which reduces the height of the tractor and allows it to pass and work in limited conditions. The RMTV provides remote and analog control, which allows you to protect the operator when working in extremely dangerous areas. RMTV can work by itself according to a pre-set program under the supervision of an operator. Thanks to the installed sensors, the operator has a complete information picture of what is happening on the control panel display.

Thanks to the installed additional equipment, such as a compressor, an electrohydraulic distributor of a transmission and an electrohydraulic distributor for controlling a bucket blade and a manipulator with a working body, a plasma unit, a welding unit, the scope of work performed is significantly expanded, in particular, the tractor can carry out digging, movement, terrain scanning, loading, unloading, cleaning the area from snow and soil, tearing out sleepers, etc., and with the help of an operator to carry out welding and plasma cutting. The fact that the tractor has independent movable sides mounted on the body, which can be rotated by 180°, and do not have rigid connections between them, can be deployed singly or simultaneously together, allows the tractor to increase its overall dimensions in length, allows you to perform various functions to overcome various obstacles. As well as the weight of the tractor, evenly distributed over all support points (wheels), allows it to overcome most of the various obstacles up to 2 m both in height and in depth.

The presence of the fifth wheel, which is the driving one and has a wheel diameter smaller than the diameter of the running wheels, in the working condition of the RMTV, when the sides are unfolded, it is an additional fifth point of support, and also helps to overcome obstacles, and in addition, helps to overcome steep slopes with an angle lift up to 50°. In the transport position, when the sides are fixed on the sides of the hull, the presence of this wheel with a smaller diameter allows the RMTV to carry out various maneuvers, including a turn on the spot. The absence of a cab and the low center of gravity of the tractor allows it to move on a slope with an inclination angle of up to 45°. The possibility of replacing working bodies also allows you to expand the types of work performed.

The proposed tractor-all-terrain vehicle is illustrated in the drawing, where in Fig. 1 shows a top view of the proposed tractor in the transport position with an unfolded boom - manipulator; in fig. 2 is a side view, with one side turned 180°; in fig. 3 is an isometric view, with one side rotated 180°; in fig. 4 is an image of an all-terrain tractor from behind. Additionally, the proposed all-terrain vehicle is illustrated with images, where figures 5, 6, 7 show overcoming obstacles in the form of deep holes; figures 8, 9, 10 show overcoming obstacles in the form of a hill; figures 11, 12, 13, 14 show overcoming an obstacle in the form of a hill when the all-terrain vehicle runs into it with one rear wheel.

The robotic multifunctional tractor-all-terrain vehicle includes a body 1 with running wheels 2 (front and rear) installed in the body 1 by an internal combustion engine 3, a gas tank 4, an oil tank 5, a water cooling radiator 6, a generator 7, a hydraulic pump 8 and a bucket blade located on the front side 9, with the function of adjusting the hydraulic drive 10 angle and height. Bucket blade 9 is made of two movable parts, with the possibility of forming an acute or obtuse angle between them. The body 1 is made in the form of a platform, inside of which a compressor 11, a hydraulic motor 12, an electric hydraulic distributor 13 of the transmission and an electric hydraulic distributor 14 for controlling the bucket blade 9 and the boom-manipulator 15 with the working body 16 (for example, with an excavator bucket), the control unit 17, the plasma unit 18, welding block 19. On both sides of the body 1, boards 20 are installed, on which running wheels 2 are fixed with the help of gear motors. At the rear running wheels, the gear motors are connected to hydraulic motors 12, which allows the wheels to have different directions of rotation independently of each other , if necessary, the operator can give such commands. In the place where the rear wheels are attached to the board 20, the turntables 21 of the boards by 180° are installed in the body. In front of the body 1, a drive wheel 22 is installed, which is attached to a hub attached to the trunnion, the trunnion is assembled with a steering knuckle, which is bolted to the body, and a hydraulic motor 12 is located in the hub of this wheel. The drive wheel turns with the help of a hydraulic cylinder, which is attached by a rod to the trunnion, and the cylinder to the body. The turn is carried out at the moment when the operator gives the command to turn.

At the rear of the tractor, with the help of a bracket 23, a boom-manipulator 15 with a working body 16 is attached. The boom-manipulator 15 has the ability to move horizontally along the horizontal guides installed in the housing, and the ability to rise and lower along the curved guides installed in the housing 1. Terrain and geolocation sensors are located under the slewing devices 21. Sensors for the position of working bodies in space are located on the working edge of these working bodies (bucket blade 9, excavator bucket 16). The position sensors of the sides 20 are located in the turntables 21.

The control unit 17 is, in fact, an on-board computer, which is located inside the housing 1 of the RMTV, with the help of which all functionality and mechanisms are controlled. The control unit 17 is connected by cable to an analog control panel, from which commands are given for the operation of the tractor, there is also a joystick on the radio control. The control panel and joystick are located in the tractor body and can be freely removed. The joystick is responsible for remote control at a distance of up to 100 meters.

The on-board computer reads, processes and saves information from all sensors installed on the RMTV for further work with data and work in automatic mode, the on-board computer also makes it possible to remotely control and receive information from sensors to a remote computer. On the control panel and joystick there are levers for controlling the tractor, toggle switches for turning on individual tractor units, and information from sensors is also displayed. In the non-working state, the control panel and joystick are placed in the case. At the rear of the tractor there is a control panel 24, in which there is an ignition key to start the engine and an electric fuse, as well as on the panel there are sockets 220 V and 380 V and an outlet for a plasma cutter and welding cables. Also in the rear of the tractor there is a panel 25 with a hydraulic outlet for connecting hydraulic tools. Panels 24 and 25 have covers to protect against moisture and dust.

RMTV works as follows.

RMTV is delivered to the place of work using special equipment, such as a trawl. After the RMTV is delivered to the facility, the operator, using the control panel (joystick, control application), starts the RMTV, after which it starts control in accordance with the specified program. The operator monitors the implementation of the programmed actions and, if necessary, can correct the operation of the tractor. RMTV is equipped with the required number of sensors, all information from which is read by the on-board computer of the control unit 17 associated with the control panel.

In automatic mode, using sensors, RMTV determines operating points and starts functioning (digging, moving, scanning the area, loading, unloading, clearing the area from snow and soil, tearing out sleepers).

RMTV operates in two modes, working and transport.

Changing the RMTV mode from the transport mode (sides 20 are in the folded state) to the working mode (throwing the sides 20 into the expanded state) is carried out by pressing the buttons on the control panel responsible for each side. RMTV fixes what mode it is in and how it will continue to work in automatic mode depends on this. When the tractor is moving in the operating mode, it maintains the floating state of the sides 20, making efforts to create adhesion of the wheels 2 with the coating, while simultaneously adjusting to the obstacles that arise in front of it. When extracting the soil, for the stability of the tractor, the sides 20 are rigidly fixed automatically using hydraulic motors; in the operating mode, if conditions require, the sides 20 can be fixed in the required position at the discretion of the operator. The route and position of the sides are stored in the memory of the on-board computer, and based on the readings of the sensors, a map of the surface irregularities of the coating is built, which can be processed and viewed on a computer if necessary.

Flat surfaces or surfaces with small recesses or hills, RMTV can overcome both in working and in transport condition.

Large obstacles (height 2×2×2 m or a depression of the same size) are overcome in the working position, when the sides 20 are thrown over 180°. In this position, the length of the tractor is doubled (the center distance of the running wheels is 2.2 m) and it has five points of support. When moving in the direction of an obstacle, for example, a pit 2 m wide, the tractor runs into it with the drive wheel and, as it were, hangs in space above the pit, while at the back it has four points of support, and while continuing to move, the drive wheel touches the other side of the pit, due to the rigidity of the structure, this part of the tractor is transferred to the other side and the tractor first has three points of support on this side, and with further movement it already has five points of support, as a result, the obstacle is overcome. In the same position, obstacles with an elevation angle of up to 50 ° and movement along an inclined plane with an angle of inclination up to 45 ° are overcome.

When overcoming an obstacle in the form of a hill with dimensions of 2 × 2 × 2 m, the drive wheel runs into the obstacle and when it is on the surface of the hill, the rear wheels are in the air (due to the rigidity of the structure), and the second and third points of support are two other wheels. With further movement, the front part of the tractor falls to the ground, the rear wheels move off the obstacle and touch the ground, and the movable sides also move off the obstacle.

The RMTV can also overcome an obstacle in the form of a hill by running into it with one rear wheel. When continuing to move, the wheel runs into a hill, while the front wheel is already touching the ground, while continuing to move forward, the rear wheel begins to move off the hill, dragging the movable side along with it, while the other movable side has a fulcrum on the ground surface with another wheel . With the continuation of the movement, the RMTV moves down from the hill and thus overcomes this obstacle.

The design of the tractor is designed so that the front part of the RMTV with a blade is lighter than the other part of the tractor with deployed sides, which allows the front part of the tractor to adjust to the terrain when moving.

When the boom-manipulator 15 is working with the working body 16, the tractor has a position with partially unfolded sides. The boom-manipulator 15 is controlled through the electric hydraulic distributor 14, which is responsible for the operation of the working bodies, the control buttons of which are placed on the control panel. The movement of the wheels 2 and the slewing devices 21 is controlled through the electric hydraulic distributor 13 of the transmission, the control buttons of which are also placed on the control panel.

If it is necessary to work with compressor devices, these devices are connected to the tractor and, using the control panel, the operator starts the compressor 11, located in the housing 1 of the RMTV. Similarly, for the implementation of welding-plasma work and work with hydraulic tools, the operator connects the hydraulic tool to the hydraulic outlet on panel 25, welding block 19 and plasma block 18. Welding and plasma hoses are hidden inside the RMTV body 1 and removed as needed before starting these blocks.

A generator 7 is connected to the internal combustion engine 3 by means of a belt drive. Due to the electricity generated by this generator, 220 V and 380 V sockets, a welding unit 19 and a plasma unit 18, a compressor 11, electric hydraulic distributors, an on-board computer, headlights, side lights are powered.

Replacement of the working bodies 16 of the boom-manipulator 15 is carried out by the operator. The operator, controlling the remote control, lowers the boom down and, using a special key, unfastens the working body, then turns the boom to another working body and fastens the desired working body by means of auto-catch. Working bodies for replacement can be located in the trailer to the tractor, or on a special platform.

For the operation of the bucket dump 9 RMTV is transferred to the transport mode (sides are folded) and the operator controls, depending on the task, either plan the territory or fill the pit.

RMTV is able to turn on the spot around its axis, thanks to the ability to separately control the wheels on the right and left sides, this way of turning allows you to maneuver in a limited space.

The proposed invention has a simple design and has a large scope of functions and work performed, works remotely with the help of an operator, has improved running and technological capabilities.

Claims (8)

1. Robotic multifunctional tractor-all-terrain vehicle, including a body with running wheels and an internal combustion engine installed in the body, a gas tank, an oil tank, a water cooling radiator, a generator, a hydraulic pump and a bucket blade located on the front side, with the function of adjusting the hydraulic drive of the angle of inclination and height, and on the rear side - with a boom-manipulator with a working body, characterized in that the body is made in the form of a platform, inside which a compressor, an electric hydraulic distributor of the transmission and an electric hydraulic distributor for controlling the bucket blade and a boom-manipulator with a working body, a control unit, a plasma unit, a welding block, and in the rear of the tractor there is a hydraulic outlet for connecting hydraulic tools, a control panel and, using a bracket, a manipulator with a working body is attached to the body, which can move horizontally along the horizontal lines installed in the body. guides and the possibility of raising and lowering along curved guides installed in the body, while on both sides of the body independent movable sides are installed with the possibility of fixation, on which the rear running wheels are fixed with the help of motor-reducers connected to hydraulic motors, and at the place of their attachment to On board, 180° side turntables are installed in the hull, and a drive wheel is installed in the center of the front part of the hull, in addition, the all-terrain vehicle tractor is equipped with terrain and geolocation sensors, position sensors of working bodies in space, and side position sensors. 2. Tractor-all-terrain vehicle according to claim 1, characterized in that the drive wheel has a smaller diameter than the road wheel, and is fixed to the body with a steering knuckle and a hub in which a hydraulic motor is installed. 3. Tractor-all-terrain vehicle according to claim 1, characterized in that the bucket blade is made of two movable parts, with the possibility of forming an acute or obtuse angle between them. 4. Tractor-terrain vehicle according to claim 1, characterized in that the boom-manipulator is made folding with the help of hydraulic cylinders. 5. Tractor-terrain vehicle according to claim 1, characterized in that a working body in the form of an excavator bucket is attached to the boom-manipulator. 6. All-terrain tractor according to claim 1, characterized in that a working body in the form of a hydraulic hammer is attached to the boom-manipulator. 7. All-terrain tractor according to claim 1, characterized in that a working body in the form of a hydraulic drill is attached to the boom-manipulator. 8. Tractor-all-terrain vehicle according to claim 1, characterized in that a working body in the form of hydraulic tongs is attached to the boom-manipulator.

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