RU218354U1 - SYSTEM OF ACTIVE STABILIZATION OF ROBOTIC Crawler HULL - Google Patents

Abstract

The utility model relates to systems for automatic control and regulation of a mechanical structure by means of electronic control signals generated by a microelectromechanical positioning and accelerometer sensor. The technical result consists in continuous measurement of the position of the body of a robotic crawler (a mobile device with a wheel mover that changes the direction of movement due to the difference in the rotation of the motor-wheels) with a microelectromechanical sensor and the supply of control signals from it to the rigidly fixed on the body and by means of levers associated with the motor-wheels servo drives, which are actuating devices that stabilize the position of the body relative to the terrain to be overcome in an active, without significant delays, mode. In contrast to existing stabilization methods - systems installed on ground vehicles with executive pneumatic and hydraulic drives, the useful model provides more precise, operational, non-inert control. At the same time, this model of active stabilization is fully applicable only in cooperation with the indicated type of active linkage (balancer) suspension and propulsion unit, consisting of separate motor-wheels, realizing a change in the direction of movement like a crawler - due to a change in their rotation.

Description

The utility model relates to systems for automatic control and regulation of a mechanical structure by means of electronic control signals generated by a microelectromechanical sensor for positioning and accelerometry.

The technical result consists in continuous measurement of the position of the body of a robotic crawler (a mobile device with a wheel mover that changes the direction of movement due to the difference in the rotation of the motor-wheels) with a microelectromechanical sensor and the supply of control signals from it to those rigidly fixed on the body and by means of balancers connected to the motor-wheels servo drives, which are actuating devices stabilizing the position of the body relative to the terrain to be overcome in an active, without significant delays, mode.

In contrast to existing stabilization methods - systems installed on ground vehicles with executive pneumatic and hydraulic drives, the utility model provides more precise, operational, non-inert control. At the same time, this model of active stabilization is fully applicable only in cooperation with the indicated type of active balancing suspension and a propulsion unit consisting of separate motor-wheels that change the direction of movement like a crawler - due to a change in their rotation.

The essence of the model is as follows.

As shown in the functional diagram of the system for active stabilization of the body of a robotic crawler (Fig. 1), the source of the control signal is a microelectromechanical sensor - a gyroscope-accelerometer 1, which determines the spatial position along the geometric axes and the effect of translational accelerations on the machine body in which it is installed. The principle of operation of such a sensor is based on the conversion of the differential capacitance of the capacitors of the corresponding coordinate axes into an electrical signal, which is formed when the working solid body moves on suspensions, which are the plates of these capacitors. The capacitance change occurs under the action of the Coriolis force on the working solid body and makes it possible to estimate the amplitude values of the indicated influences.

Further, the signal is fed to the microcontroller 2, designed for its evaluation, processing and generation of control signals, which, when fed to the power supply control boards (drivers) 3, actuate the servos 4 located in the body of the crawler 5 shown in the general view (Fig. 2).

As shown in the diagram (Fig. 3), each of the servo drives 4, depending on the received signal, changes the angle of position of the working axis 6 connected through the balancer 7 with the supporting motor-wheel 8, thereby positioning the machine body 9 in a given position, regardless of the nature and relief drawing 10.

This system solves the technical problems of stabilized positioning of special equipment and equipment transported in difficult road conditions, such as observation devices, sights and weapon systems. It is also possible to use the system on an all-terrain chassis of the crawler type, simplifying and reducing overall dimensions due to the exclusion of individual stabilization systems for this equipment from the overall design.

An analogue of the proposed development is a method for observing objects from a remotely piloted aircraft (Patent No. RU (11) 2665016 (13) C1, IPC B60G 21/00 (2006.01) B62D 49/08 (2006.01). Authors: Kazartsev Alexey Alexandrovich, Bolshakov Nikolay Vladimirovich , Muradyan Ashot Sargisovich Published: 24.08.2018). The invention relates to a vehicle suspension. The active suspension of a narrow vehicle contains a power drive that operates under the control of the software of the electronic unit depending on the speed, angle of rotation and forces acting on the vehicle.

Close to the proposed device is the Vehicle suspension with automatic adjustment of the inclination of the wheels and the body in the direction of rotation (Patent No. RU (11) 2747462 (13) C1 Author(s): Zelenov Vadim Dmitrievich, Zelenov Dmitry Alexandrovich. Published: 10.04.2016). The invention relates to transport suspensions. Suspension with automatic adjustment of the inclination of the wheels and the body in the direction of rotation consists of an independent suspension, including movable elements connected to elastic elements.

The disadvantages are the following:

Both models are designed to solve technical problems of ensuring the stability of the wheeled chassis with the main power unit and are not intended to provide a high degree of stabilization on the hull (fuselage), which is implemented in the proposed utility model:

1. the use of a compact electronic positioning control system, which ensures the small dimensions of the structure as a whole;

2. ensuring the stabilization of the transported equipment, and not just the body of the vehicle;

3. stabilization of equipment during its transportation over rugged terrain with high relief amplitude and relatively high speed;

4. the possibility of using this system on a highly maneuverable crawler-type platform.

The proposed model can be applied in the areas of use of robotic and robotic machines for special and military purposes.

Claims (2)

1. System for active stabilization of the body of a robotic crawler, including a microelectromechanical sensor of spatial position and accelerometry, which determines the positioning in the space of the body of the crawler, in which it is installed and on which the equipment is fixedly mounted, requiring its own position stabilization, which is carried out by means of relative movement of the motor-wheels, resting on the ground, by servo drives rigidly fixed on the body, to which these wheels are attached by balancers and driven by a power voltage coming from electronic boards that receive a control signal from a microprocessor controller that generates this signal in accordance with the data received from the microelectromechanical sensor and processed by the software algorithm. 2. The system of active stabilization of the body of the robotic crawler according to claim 1, characterized in that the provision of stabilization of the equipment transported on the body and the body itself is implemented by a single system.

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