RU172946U1 - A SYMMETRIC STEPPING PLATFORM BASED ON A SYMMETRIC THREE-YEAR MOTOR WITH A LINEAR-SLIDING SUPPORT AND INTEGRATED CONTROL DEVICE - Google Patents

Abstract

The utility model is aimed at improving the efficiency of the design process of robotic devices equipped with built-in control systems by creating new design solutions that increase the maneuverability, maneuverability and stability of walking vehicles on unprepared surfaces with varying widths, terrain and composition, with the possibility of self-healing when exposed to external mechanical disturbances and the possibility of functioning in a reversal Ut position. The specified technical result is achieved by the fact that the platform design uses an even number of mechanically unconnected propulsion units, equally on both side sides, while the design of each of the propulsion devices consists of three interconnected servos and a linear sliding support equipped with an integrated control device for the basis of a functionally oriented microcontroller. 2 s.p. f-ly, 4 ill.

Description

The utility model relates to the field of robotics and instrumentation and is the hardware for the design process of robotic devices equipped with embedded control systems.

The utility model is a mechatronic device and can be used in the development of designs and control systems of walking machines.

Based on the features of the process of developing designs and control systems for a specified class of robotic objects and the requirements for them, the hardware should provide the developer with the ability to use technical solutions that are effective in operation, ensuring the ability of walking machines to automatically change the manner of movement, and automatically adapt to changes in surface relief , automatic restoration of functioning under the action of a number of external mechanisms perturbations, as well as ensuring the achievement of high levels of maneuverability and efficiency of operation while reducing the complexity of their design.

Known designs of walking vehicles with terrain, equipped with walking propulsion. These include, for example, a walking mover of cross-country ability described in [1] - RU No. 2435693 (C1), B62D 57/032, publ. 12/10/2011. The utility model relates to the field of transport equipment and allows to increase the speed of movement and patency of walking cars. Through the use of a reversible drive, the propulsion device has the ability to reciprocate through the rod, at the ends of which are mounted pairs of transversely spaced racks. The disadvantage of this solution is the impossibility of changing the manner of movement due to the fact that the design uses a single power plant, and the control is carried out by means of a structurally unchanged transmission. The disadvantages also include the impossibility of restoring performance when the structure is overturned, as well as the inability to move along tracks of variable width due to the unchanged track size of the walking machine.

To ensure the possibility of changing the manner of movement, several independent drives are introduced into the design of the walking machine. Such solutions include walking and a self-propelled machine based on it, described in [2] - RU No. 2452647 (C1), B62D 57/032, publ. 06/10/2012. This self-propelled machine contains several walking strokes, the cranks of which are connected and deployed at an angle of rotation relative to each other. In this case, the guides of the sliders are pivotally mounted on the platform in the plane of movement of the sliders, the control is carried out by independent power plants of the left and right sides, and the rotation is carried out by changing the speed of movement of one of the sides. The disadvantage of this solution is the inability to adjust the lifting height of each of the moves individually and, as a result, the lack of adaptability of the self-propelled machine to changes in surface topography. The disadvantages also include the impossibility of restoring performance when the structure is overturned and, in addition, the inability to move along the tracks of variable width due to the unchanged track size of the walking machine. In addition, with a single failure in any power plant, the machine loses its mobility.

To the greatest extent, the requirements for the hardware of the design process of structures and control systems of walking machines are met by the walking vehicle selected as a prototype [3] - RU No. 2495780 (C1), B62D 57/032, publ. 10/20/2013.

In the prototype, increasing the resistance to failure of power plants is achieved by increasing the number of drives. On the sides of the walking vehicle are two front and two rear brackets with the possibility of rotation around vertical axles and equipped with separate rotation drives. On each of the brackets there are parallel guides for two telescopic support posts equipped with separate drives for horizontal and vertical movement. In this case, the translational movement is carried out due to four drives of horizontal movement by synchronous movement of the guides and the ball carriages of the carriages connected to them by one of each pair of telescopic racks.

The installation in the prototype device on each bracket of a separate rotation drive allows to exclude the transmissions connecting them, thereby reducing the mass of the vehicle and reducing energy consumption for movement.

When turning a prototype vehicle, each of the four rotation drives turns the brackets at a given angle depending on the radius of rotation, thereby changing the horizontal speed of each pair of telescopic support stands. At the same time, synchronization of movements between pairs is not necessary, since in each pair one of the racks is guaranteed to be in contact with the supporting surface.

Thus, the prototype solution allows you to change the manner of movement of the vehicle and has increased cross-country ability, however, it has significant complexity and, as a consequence, reduced reliability of the design.

In addition, the disadvantages of the prototype include the inability to restore the operability of the structure when it capsized.

Unresolved in the prototype also remained the problem of movement along the tracks of variable width due to the unchanged track size of the walking machine.

The technical problem to which the claimed utility model is directed is the creation of new design solutions that increase the maneuverability, maneuverability and stability of walking vehicles on unprepared surfaces with varying widths, terrain and composition, which have the ability to self-repair during tipping and the ability to function upside down .

An important variety of such design solutions for practical applications is the patented symmetrical walking platform (hereinafter referred to as the platform) with symmetrical walking propulsors (hereinafter referred to as propulsors, propulsion) and an integrated control device.

The technical results of a patentable utility model are:

- reduced requirements for the topological characteristics of the surface (including changes in the width of the lane, the possible appearance of extended longitudinal recesses or elevations on the route), which improves the maneuverability, maneuverability, speed of the route, resulting in energy efficiency;

- reduction of requirements for the quality and composition of the surface (including uneven and inhomogeneous hard, viscous and loose surfaces), which provides increased cross-country ability of the platform and speed of the route;

- reduced recovery time during rollover and structure overturn, which improves the integral indicators of the reliability of the platform;

- expanding the range of adjustable heights of the center of gravity of the platform, which provides increased stability of movement of the platform, including on slopes.

The claimed technical results are achievable by expanding the variety of locomotion realized by the propulsion engines while reducing the structural complexity of the propulsion devices themselves by using drives with enhanced functionality and increasing the accuracy and consistency of controlling the elements of each propulsion system using tracking and adaptive built-in control devices based on functionally oriented microcontrollers.

The essence of the utility model and its feasibility are illustrated by the structural diagrams presented in FIG. 1 and FIG. 2.

In the design of the platform, an even number of propulsors (at least four) was used, distributed equally on both side sides of the platform. Each propulsion device (Fig. 1) contains a linearly sliding support (1) that moves inside the guide mount (2) and is driven by a servo drive (3). The movement of the node (1, 2, 3) in the vertical plane is carried out by means of a servo drive (4) attached to the servo drive (5), which performs horizontal movements of the mover through a rigid joint (6). To contact the support with the surface, as well as to reduce pressure on the surface at the ends of the support are platforms (7), attached to the support by means of hinges (8). Simultaneous coordinated control of the servo drives of the propulsion is carried out by means of an integrated control device based on a functionally oriented microcontroller. Sensors, hardware and software of the microcontroller allow you to register surface parameters, determine the position of the platform in space (including detecting emergency situations, as well as tipping and flipping conditions) and generate physical signals for coordinated control of servos, which ensures high speed and accuracy of each locomotion.

The platform (Fig. 2, 1-A) equipped with such propulsion devices (Fig. 2, 1-B) has a set of basic configurations, illustrated in FIG. 2 and described in table. 1. The upper side of the platform is highlighted in gray.

The indicated structural configurations can be used both individually and in combination (for example, movement on a narrow surface with lateral unevenness is provided by a combination of configurations No. 6 and No. 4).

The structural symmetry of the platform is illustrated in FIG. 3. When the platform is flipped from its nominal position (15) relative to its axis (16), the platform is capable of forming all of the above basic configurations and their combinations (18) by moving the propulsors into the working position (17).

The ability of the platform to automatically restore performance during a rollover due to external mechanical disturbances is illustrated in FIG. 4. When the built-in control device detects a tipping situation (19), the platform shifts the pairs of propulsion devices in the air relative to the pair of propulsion devices in contact with the surface in opposite directions of the support, which provides a shift of the center of gravity of the platform relative to the vertical (20); further, by controlling a pair of movers having contact with the surface, repulsion from the surface and a controlled revolution (21) are performed, after which the alignment of the platform body (22) and transition to the nominal configuration (23) take place.

In contrast to the prototype, the proposed platform additionally has the ability to automatically restore performance during rollover and the ability to function in an inverted position, and also has the ability to move along routes of variable width, topography and composition. Thanks to the technical solutions used in the claimed utility model, a simplification of the design and, as a result, improvement of the integral reliability indicators are provided. In addition, improved maneuverability and stability in areas of difficult terrain, which, in turn, provides an increase in the resulting energy efficiency and speed of the route in comparison with the prototype.

Thus, it follows from the considered that the claimed utility model is technically feasible and ensures the achievement of a technical result, which consists in creating a symmetric three-coordinate propulsion with a linearly sliding support and an integrated control device and a symmetrical walking platform based on it, which, in comparison with the prototype, is fundamentally features that distinguish it when moving along routes of variable width, topography and composition, the ability to self-repair work in conditions under the action of external disturbances and the possibility of functioning in an inverted position, which ensures an increase in the efficiency of design and use of walking machines in automation and robotics tasks.

Information sources

1. RU No. 2435693 (C1), B62D 57/032, publ. 12/10/2011.

2. RU No. 2452647 (C1), B62D 57/032, publ. 06/10/2012.

3. RU No. 2495780 (C1), B62D 57/032, publ. 10/20/2013.

Claims (3)

1. Symmetric walking platform based on a symmetric three-coordinate propulsion with a linear sliding support and an integrated control device, characterized in that it contains an even number of structurally independent three-coordinate propulsors to enable the platform to move on surfaces with varying width, relief and composition and the possibility of its functioning in upside down when exposed to external mechanical disturbances. 2. Symmetric walking platform based on a symmetric three-axis propulsion with a linear sliding support and an integrated control device according to claim 1, characterized in that each of its symmetric three-axis propulsion contains three sequentially articulated controlled links and a guide mount, inside which the support moves, each link the mover is controlled by means of a separate servo drive, while the servo drive of the first link allows you to set the amount of extension of the support from the mount, the servo drive of the first link provides the movement of the support in the vertical plane, the servo of the third link provides the movement of the support in the horizontal plane with the ability to perform high-precision movements of the support of the mover simultaneously and independently in each of the coordinates of the three-dimensional space. 3. A symmetric walking platform based on a symmetric three-coordinate propulsion with a linear sliding support and an integrated control device according to claim 2, characterized in that the integrated control device of its symmetric three-axis propulsion is implemented on the basis of functionally oriented microcontrollers for the possibility of recording surface parameters, determining the position of the propulsors in space and the implementation of the movement of the support of the movers, which are sequences of required readings of the positions of the support from the whole set of provisions admissible for each of the measurements.

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