RU183463U1 - Multi-Link Robot - Caterpillar - Google Patents

Abstract

A multi-link robot caterpillar is intended for use as a mobile self-propelled vehicle, in particular, for movement in various conditions - soils, on hard-to-reach flat surfaces, inside pipes with different diameters and sharp bends. The same links of the device are interconnected with the possibility of angular movement relative to each other using an electric drive with an electric motor, the shaft of which is combined with the axis of rotation of the link. Each of the links is formed by two sections movable relative to each other, having a common axis of rotation. The motor shaft is aligned with the common axis of rotation of each link. The next link relative to the previous one is fixed at an angle of 90 ° so that the axis of rotation of two adjacent links are orthogonal to each other. The last link in the direction of movement of the device is equipped with an additional base. The scope of application is expanding significantly while simplifying the design due to the absence of wheel propulsors and reducing energy consumption by overcoming increased friction between the surface of the medium and the moving device.

Description

The utility model relates to mobile self-propelled vehicles and can be used for movement in various conditions - soils, on flat hard-to-reach surfaces, inside pipes with different diameters and sharp bends.

Known crawling robot snake, which is a self-propelled vehicle, containing three identical links made in the form of flat cruciform plates connected by two spherical joints, and attached to the links with spherical joints two linear electric drives, which are reversible DC motors with rack and pinion transfer (patent RU 67541, IPC B62D 53/00 (2006.01)).

The main disadvantages of this device are the design complexity due to the introduction of linear electric drives, which are two dependent units - motors and rack and pinion gears, accompanied by increased energy costs due to the need to overcome friction between the surface of the medium and the moving robot-snake.

The closest to the claimed technical solution according to the technical essence and the achieved result (prototype) is a multi-link robot snake, which is a self-propelled vehicle that contains the same links articulated between each other by connecting elements with the possibility of angular displacement relative to each other by means of an electric drive with an electric motor. Each link is made in the form of a hollow cylinder, inside of which a disk with a slot is rigidly fixed. An axis is mounted inside the slot of each disk. Connecting elements are installed on the axes of adjacent links. The motor shaft is combined with one of the axes of rotation of the link. An electric drive with an electric motor, that is, a drive for moving the connecting elements, communicates the links. All links or some of them are equipped with wheel propulsors (patent RU 130916 U1, IPC B60F 5/00 (2006.01)).

The main disadvantage of the above device is the narrow scope due to the inability to move it in pipes with small bending radii due to the small angle of rotation of the links relative to each other, which leads to a large radius of rotation of the entire vehicle, with increased complexity of the design associated with the use of wheel propulsors, and significant energy costs aimed at overcoming increased friction between the surface of the medium and the moving robot snake.

The technical problem that can be solved by implementing the utility model is the creation of a multi-link robot track with an expanded scope of application while simplifying the design due to the absence of wheel propulsion and reducing energy consumption by overcoming increased friction between the surface of the medium and the moving device.

The expansion of the scope of the device is due to the possibility of its movement in pipes with small bending radii due to the increase in the angle of rotation of the links relative to each other, formed by moving relative to each other sections of each link with a common axis of rotation, which in turn leads to a small radius of rotation of the entire device.

The solution to this technical problem is achieved by the fact that in a multi-link robot caterpillar containing identical links connected to each other with the possibility of angular movement relative to each other using an electric drive with an electric motor, the shaft of which is aligned with the axis of rotation of the link, according to the utility model, each of the links is formed by two sections movable relative to each other, having a common axis of rotation. The motor shaft is aligned with the common axis of rotation of each link. The next link relative to the previous one is fixed at an angle of 90 ° so that the axis of rotation of two adjacent links are orthogonal to each other. The last link in the direction of movement of the device is equipped with an additional base.

The proposed utility model is illustrated in the drawing, where in FIG. 1 shows a link of a multi-link robot caterpillar, side view; in FIG. 2 - the same, top view; in FIG. 3 shows a multi-link robot track containing three links; in FIG. 4 schematically shows a clockwise rotation of the first section of the first link in the initial position of the device; in FIG. 5 - rotation of the second section clockwise of the third link in the direction of movement of the device; in FIG. 6 - rotation of the first section counterclockwise of the first link in the direction of travel of the device; in FIG. 7 - simultaneous rotation of the first section of the first link counterclockwise and the rotation of the second section counterclockwise of the third link in the direction of travel of the device; in FIG. 8 - links return to the initial position of the device in accordance with FIG. four; in FIG. 9 - rotation of the first link relative to the second by an angle α relative to rectilinear motion.

In addition, the drawing additionally shows the following:

additional letter designations of links, namely link 1, link 2, link 3;

additional lettering of sections, namely, sec 1, sec 2;

O - the general axis of rotation of the sections in the link;

T is the point of the section of the link with a high coefficient of friction;

horizontal line with an arrow and the letter D, showing the direction of movement;

circular lines with arrows showing the direction of rotation of the sections forming the links.

A multi-link robot caterpillar, presented in a three-link design, contains the same links 1 (link 1), 2 (link 2), 3 (link 3), interconnected with the possibility of angular movement relative to each other. Three links are the minimum number of links that provide movement of the device.

Each link of a multi-link robot caterpillar is formed by two first section 4 (sec 1) and second section 5 (sec 2) movable relative to each other, having a common axis of rotation 6 (O) relative to each other in the link.

The first section 4 (sec 1) contains a base 7 and ribs 8, 9, 10 connected with the base 7. The second section 5 (sec 2) contains a swivel 11, a rib 12 connected to the base 13, an electric drive with an electric motor, which is used a servomotor 14 provided with a holder 15, ribs 16 and 17 connected to the base 13. An electric drive with an electric motor is designed to allow angular movement of links 1 (link 1), 2 (link 2), 3 (link 3) relative to each other. The shaft (not shown) of the servomotor 14 is aligned with the axis of rotation 6 (O) of each link (Fig. 1, 2).

The base 13 of link 1 is attached to the base 7 of link 2 by bolts 18. In this case, link 2, which follows relative to link 1, is rotated 90 ° in space relative to link 1. Thus, the axis of rotation 6 (O) of two adjacent links 1 and 2 turn out to be orthogonal to each other. So the axis 6 (O) of link 1 is located orthogonal to the axis 6 (O) of link 2.

The base 13 of link 2 is attached to the base 7 of link 3 by bolts 19. In this case, link 3, which follows relative to link 2, is rotated in space by an angle of 90 ° relative to link 2. Thus, the axis of rotation 6 (O) of the adjacent two links 2 and 3 are orthogonal to each other. So the axis 6 (O) of link 3 is located orthogonal to the axis 6 (O) of link 2.

Link 3 as the last link in a three-link device includes not only the first section 4 (sec 1) and section 5 (sec 2), but also the mandatory additional base 7, the last in the direction of movement of the device, which is attached to the base 13 with bolts 20 ( Fig. 3).

The first section 4 (sec 1) and the second section 5 (sec 2) shown in FIG. 1 and FIG. 2 are made movable relative to each other due to the drive - swivel 11, which is rigidly connected with section 4 by means of rib 8 and the shaft of the servomotor 14, fixed in section 5 by means of holder 15.

The movement of a multi-link robot caterpillar is as follows. Initially, the first section 4 (sec 1) of link 1 is rotated by a servomotor 14 clockwise around axis 6 (O). Link 2 and link 3 remain at rest (Fig. 4). Next, the second section 5 (sec 2) of the link 3 also rotates clockwise and raises the link 2 (Fig. 5). In this case, the movement of the robot caterpillar does not occur, because at the point T of link 1 a high coefficient of friction is provided. Next, the first section 4 (sec 1) of the link 1 is rotated counterclockwise using the servomotor 14, the link 2 is lifted (Fig. 6). Then, with a time delay, the second section 5 (sec 2) of link 3 rotates counterclockwise. Due to the simultaneous rotation of these sections, the robot track moves in the direction of the arrow “D” (Fig. 7). The movement in a raised state eliminates the friction of the links on the surface, which reduces energy consumption. Next, the first section 4 (sec 1) of the link 1 returns to its original position (Fig. 8). With a delay of 2 ms, the second section 5 (sec 2) of link 3 returns to its initial position. The delay ensures the return of the first section 4 (sec 1) of link 1 without shifting back due to the high coefficient of friction at point T (Fig. 7).

This work of sections provides a rectilinear movement of the robot. The rotation of the robot caterpillar from the rectilinear movement is carried out by the servo drive 14 due to the rotation of the first section 4 (sec 1) link 2 around axis 6 (O) (Fig. 9). The maximum angle α of rotation of the links is: α = 90 °.

The design of the proposed utility model, which is economical due to low energy consumption, makes it possible to carry out movement under various conditions, mainly inaccessible, without the simultaneous use of additional wheel propulsors.

Claims (1)

A multi-link robot caterpillar containing identical links interconnected with the possibility of angular movement relative to each other using an electric drive with an electric motor, the shaft of which is aligned with the axis of rotation of the link, characterized in that each link is formed by two sections movable relative to each other, having a common axis of rotation, while the motor shaft is aligned with the common axis of rotation of each link, the next link relative to the previous one is fixed at an angle of 90 ° so that the axis of rotation of the two the bottom links are orthogonal to each other, and the last link in the direction of movement of the device is equipped with an additional base.

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