RU180974U1 - Robotic device - Google Patents

Abstract

Field of use: robotics, in particular transport robots, can be used as a mobile robot or a self-moving transport trolley to perform a wide range of human functions, mainly indoors, in particular, such a device can be used in advertising, security, for entertainment, and even as a means human movement. Technical result: increased maneuverability and stability due to the use of only two drive wheels, supplemented by two idle wheels, each I pair along mutually perpendicular axes, press the drive wheels to the supporting surface and give the platform a closed box shape. Essence: in a robotic device that includes a platform mounted on independent drive wheels, equipped with electric wheels with a battery, and the control device, according to a utility model, the platform has a closed box-shaped, two independent driving wheels and two idle, made with the possibility of rotation by 360 °, the wheels are placed along mutually perpendicular axes, When that each drive wheel is provided with a clamping device to the supporting box-like poverhnosti.Zamknutaya platform is formed between a hollow-docked modules for housing batteries, the head controller, sensors and others. ancillary elements and arranged along the outer contour of the platform. The platform has a square or round shape in plan, while the middle part of the platform may be absent. As an electric drive, a direct current electric motor is used. The platform provides mounting elements for functional modules, while high functional modules are placed along the axis of the drive wheels, the height of the functional module should not exceed more than four distances between the drive wheels of the device. The diameter of the drive wheels exceeds the diameter of the idle wheels. The device is made with the possibility of remote control using a smartphone and has three modes of operation. 9 s.p. f-ly, 5 Fig.

Description

The utility model relates to robotics, in particular transport robots, and can be used as a mobile robot or a self-propelled transport trolley to perform a wide range of human functions mainly indoors, in particular, such a device can be used in advertising, security, for entertainment, and even as vehicle of man.

A well-known mobile robotic complex, including a movable platform equipped with electric drives, a complex control device, a photo-video fixation device, a battery. Electrical components are used to control components. The task of the complex is to conduct remote monitoring of the environment with the possibility of wireless charging of batteries, for which the mobile robotic complex is additionally equipped with wireless charging of batteries (RU 160103 U1).

This device can move on a horizontal plane and make turns, control is carried out by the operator by the operator remotely via the Internet.

However, this analogue contains pairs of wheels mounted on the axles, which does not provide the possibility of a quick turn and high maneuverability required when moving in limited areas.

A robotic device for cleaning the floor in rooms requiring sterility conditions is known, comprising: a chassis, an energy subsystem for providing energy to the aforementioned robotic floor cleaning device, a moving subsystem for providing moving energy for the movement and functioning of the robotic floor cleaning device, and a disposable cleaning subsystem comprising a platform to which a brush block, a vacuum cleaner block and a spray block are attached, the energy and vizhuschaya subsystem are arranged within the chassis and the platform disposable cleaning subsystem is fixed on the chassis pivotably (RU 2434569).

This device is also not sufficiently maneuverable, it cannot be deployed in one place, nor can it provide access to the corner zones of the room.

Known transport robot containing a flat platform having a plan of a triangular shape with rounded corners, installed in the corners of the platform wheels, rotary motors, mid-flight motors and forks of wheels. The forks are mounted on a platform at the vertices of an equilateral triangle. The transport robot also contains a power source (rechargeable batteries) and an on-board computer network, including the head controller and controllers for rotary electric motors installed on the platform, and controllers for mid-stroke electric motors mounted on the forks of the corresponding wheels, a wireless data exchange channel between the onboard computer network controllers and three transmission nodes electrical signal through a rotating joint from a power source to march controllers bubbled motors. The invention provides sufficient maneuverability of a transport robot (RU 2424891).

The presence of individual engines for each wheel complicates and significantly increases the cost of construction. In addition, such a transport robot is not stable enough. Ancillary equipment can be mounted on a flat platform, but this can cause it to tip over due to loss of stability.

The objective of this utility model is to create a simple inexpensive robotic device of increased maneuverability and stability.

This problem is solved due to the fact that in a robotic device that includes a platform mounted on independent driving wheels, equipped with electric wheels with a battery, and a control device, according to a utility model, the platform has a closed box-shaped, two independent driving wheels and two single wheels made with the ability to rotate 360 °, each pair of wheels is located along mutually perpendicular axes opposite each other on different sides of the platform, while each drive wheel is equipped with a device The property of pressing to the supporting surface.

An enclosed box-shaped platform is formed by interconnected hollow modules.

Hollow modules are used to accommodate batteries, the head control controller, sensors and are located along the outer contour of the platform

The platform has a cutout in its middle part.

As an electric drive, a direct current electric motor is used. The diameter of the drive wheels exceeds the diameter of the idle wheels. The robotic device is made with the possibility of remote control using a smartphone and has three modes of operation.

Causal relationship.

Placing the platform on four wheels, two of which are independent driving (driving), two idling (non-driving, rolling) installed along two mutually perpendicular axes, as well as supplying each drive wheel with a clamping device to the supporting surface, increases the maneuverability and stability of the robotic device . The device can easily move around obstacles, rotate in almost the same place.

The use of only two independent driving wheels, supplemented by two independent single, freely rotated 360 °, provides a significant simplification and cheapening of the design.

The implementation of a closed box-shaped platform, in particular, supplying a box-shaped platform with hollow modules located around the platform perimeter (forming a frame), allows convenient and reliable placement of batteries, low-current and other electrical wiring for electric motors, obstacle detectors, sensor control wiring, sound speakers, memory modules and other necessary elements. In addition, batteries and other elements placed along the platform perimeter can effectively distribute the weight of the platform from the center to the periphery and thereby serve as a weighting agent, which increases the stability of the robotic device.

At the same time, the middle (inner) part of the frame platform remains free, it can be blocked (for example: by a solar battery) or it can remain not blocked (the platform in the middle part has a large through hole).

In both cases, it is possible to place fastening elements of functional modules on the platform.

Technical result

The robotic device is characterized by increased maneuverability and stability due to the use of only two driving wheels, supplemented by two idle wheels, each pair along mutually perpendicular axes, pressing the driving wheels to the supporting surface and giving the platform a closed box shape.

Conducted patent studies have shown that the claimed technical solution meets the condition of patentability - "novelty."

The inventive robotic device can be manufactured industrially or in workshops, that is, it meets the patentability condition “industrial applicability”.

The essence of the utility model is illustrated by drawings, diagrams and photographs, where in FIG. 1 shows a perspective view of a robotic device, FIG. 2 is a bottom view in perspective; in FIG. 3 is a diagram of a suspension of a driving wheel, in FIG. 4 is a photograph of a general view of a robotic device; FIG. 5 is a photograph of a drive wheel.

The robotic device includes a platform 1. In the drawings and photographs shows a platform 1, in plan having the shape of a square. But the shape of the platform may be different, for example, round in plan.

Platform 1 has a closed box-shaped form and is formed by hollow modules 2, 3, and 4 stacked together.

Module 2 is made in the form of a parallelepiped and can be equipped with opening covers or doors (not shown in the drawing). Module 2 may not have opposite walls adjacent to adjacent modules 3, in which case module 2 has the shape of a square tube.

Module 3 is made in the form of a connecting sector adjacent to adjacent modules 2 and 4 in the form of parallelepipeds. Walls adjacent to adjacent modules may also be missing.

Module 4 has the shape of a parallelepiped in which the drive wheels 5 are located. External side walls and walls adjacent to adjacent modules 3 may be absent. A through cutout is made in the bottom wall of module 4 to accommodate the drive wheel 5 with a drive - a direct current electric motor 6 and a clamping mechanism 7 to the supporting surface.

If there are walls between individual adjacent modules, then platform 1 contains several separate cavities. In the absence of side walls, all four modules form a common internal space - a single cavity.

In the cavities of the modules of the platform 1 are batteries (not shown) for DC motors 6. There can be one battery for each drive or two batteries for each drive. In addition, low-current and other electrical wiring for electric motors, obstacle fixation sensors, sensor control wiring, sound speakers, memory modules and other necessary elements, as well as a tool for installing functional modules 8, for example, such as shown in the photo, can be located in the cavities.

The use of two batteries will ensure reliable operation of the electric drive. The use of four batteries will increase the life of the battery, and also by increasing the number of batteries, the structural stability is increased (two or four batteries of 12V). The maximum voltage in the device’s network when connecting the batteries is not more than 24V.

Modules 2, 3, 4 are placed on platform 1 along its outer contour.

In the drawings, the platform 1 is made in the form of a frame of sequentially located modules 2, 3, 4, 3, 2, 3, 4.

In another embodiment, the platform may be further provided with a flat lower and / or upper base (not shown in the drawings), the outer contour of which corresponds to the outer contour of the assembled modules. In a flat base, a cutout can be made along the contour of the inner walls of modules 2, 3, and 4. With a square platform, the cutout is also square, and in a round platform, a cutout in a circle. The middle part of the platform is missing.

Platform 1 is mounted on wheels parallel to the floor surface. The platform 1 is supported by four wheels divided into pairs: two leading 5 and two single 9. Each pair of wheels is located opposite each other on opposite sides of the platform. For example, with the square shape of the platform 1, the drive wheels 5 and idle wheels 9 are located in the middle of each side of the square. If the platform is circular in plan, then the drive wheels 5 and idle wheels 9 are located at the ends of two mutually perpendicular diameters.

Each drive wheel 5 is equipped with an individual drive in the form of a DC motor 6, powered by a battery (the battery is not shown in the drawings). The drive wheels 5 do not have a steering (steering) mechanism.

Each drive wheel 5 is oriented along the side of the housing on which it is fixed.

In addition, each drive wheel 5 through the drive shaft 10 is connected to an electric motor 6, which, in turn, is connected to a device 7 for clamping the wheel 5 to the supporting surface (floor surface). The clamping device 7 includes a two-arm lever 11 mounted permanently on the electric motor 6, one shoulder of which is connected with the housing of the platform 1 with the possibility of rotation (rotation), and the second shoulder is spring-loaded relative to the platform 1. The drive wheels 5 are mounted on a semi-independent spring suspension.

Another pair of wheels is idle (non-driven, rolling) wheels 9. Each wheel 9 is mounted on the lower part of the platform 1 with the possibility of rotation 360 ° relative to the platform. The diameter of the idle wheels 9 is much smaller than the diameter of the drive wheels 5, since they are located under the platform.

The attachment points of idle 9 (360-degree rotatable) wheels are located on the platform 1 of the robotic device from each other at the same distance as the drive wheels 5, so that in the idle position of the 5 idle wheels across the drive wheels 5, the imaginary axes of both wheelsets conditionally intersect at right angles. This arrangement of the axles and the rotation of 360 degrees of idle 9 wheels allows the device to rotate in place using only the mutually reverse rotation of the drive wheels 5.

The platform 1 is equipped with fasteners 12 functional modules 8.

As functional modules 8, racks for advertising materials, handles for manual movement of the platform, nodes providing the possibility of cleaning the supporting surface, a place for a passenger, and much more can be used.

The explanatory figures show a platform 1 with a functional module 8 in the form of two racks 13, rigidly connected to the support rods 14, which, in turn, are rigidly connected by means of fasteners 12 to the platform 1. The height of the functional module 8 should not exceed four times the distance between the leading wheels to eliminate the risk of buckling. In addition, it is advisable to place such high functional modules along the axis passing through the shafts 10 of the drive wheels 5, which also has a positive effect on stability.

The control of the robotic device is carried out using a smartphone; for this, an application program is required.

The control system of the robotic device is configured to remotely control wirelessly (WiFi, Bluetooth) using a smartphone and a special application program on the smartphone.

The operation of the device is as follows. The required functional module 8 is placed on the platform, for example, as shown in the figures, a rack for placing advertising materials. Then the engines drive the drive wheels 5, and the robotic device begins to move. The following modes are possible:

1. Automatic rotation in place in different directions (used to demonstrate promotional materials).

2. Manual control from a smartphone using the application program and interface.

3. Fully automatic mode using sensors to avoid obstacles.

Claims (10)

1. A robotic device comprising a platform mounted on independent drive wheels, equipped with an electric wheel drive with a battery, and a control device, characterized in that the platform has a closed box shape, two independent drive wheels and two idle, made with 360 ° rotation, each a pair of wheels is located along mutually perpendicular axes opposite each other on different sides of the platform, while each drive wheel is equipped with a clamping device to the supporting surface. 2. The robotic device according to claim 1, characterized in that the closed box-shaped platform is formed by hollow modules stacked together. 3. The robotic device according to claim 1, characterized in that the closed box-shaped platform is formed by interconnected hollow modules designed to accommodate batteries, a head control controller, and sensors. 4. The robotic device according to claim 1, characterized in that the closed box-shaped platform is formed by interconnected hollow modules located along the outer contour of the platform. 5. The robotic device according to claim 1, characterized in that the platform has a square shape in plan. 6. The robotic device according to claim 1, characterized in that the platform has a circular shape in plan. 7. The robotic device according to claim 1, characterized in that a cutout is made in the platform in its middle part. 8. The robotic device according to claim 1, characterized in that a direct current electric motor is used as the electric drive. 9. The robotic device according to claim 1, characterized in that the diameter of the drive wheels exceeds the diameter of the idle wheels. 10. The robotic device according to claim 1, characterized in that the control device is configured to be remotely controlled using a smartphone and in three operating modes.

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