RU222465U1 - ROBOT OF ALL-ROAD TERRAIN - Google Patents

Abstract

The utility model relates to the field of tracked vehicles. The technical result achieved by the solution is to increase the maneuverability of the robot in comparison with solutions known from the prior art. The specified technical result is achieved due to the fact that an all-terrain robot has been developed, containing: a body with tracked movers fixed on both sides, characterized by the fact that the total width of the tracks of the tracked movers is greater than the width of the body, a battery pack and electric drives for each tracked mover are installed in the body, the ratio The width of the robot to its height ranges from 2 to 5.7 z. p. f-ly, 2 ill.

Description

Field of technology to which the solution relates

The solution relates to the field of tracked vehicles.

State of the art

The well-known tracked vehicle RU2711105C1 (published 2020.01.15), which refers to tracked vehicles with onboard gearboxes. The tracked vehicle contains a tracked propulsion unit with rear and front drive wheels, a heat engine as part of a parallel-type hybrid power plant with drive to the rear drive wheels, and a front additional source of torque. The transmission is made without differential. The rear branch of the transmission contains rear final drives. Its front branch contains a series-connected onboard two-stage range box and front final drives. In parallel with the heat engine, a rear additional torque source, for example an electric motor, is additionally connected to the output link of the friction clutch as part of a hybrid power plant. An improvement in the technical and operational or tactical and technical characteristics of tracked vehicles is achieved.

However, this solution does not disclose design features that ensure high cross-country ability of a tracked vehicle.

The chassis of a tracked vehicle is known (RU2237228C2, publ. 2004.09.27), which belongs to the field of transport engineering and can be used, for example, to create an armored chassis of an engineering tracked vehicle based on a tank, which can be used both for military purposes and in operations in emergency situations in conditions of radioactive contamination of the area. The first and last pairs of suspensions of the undercarriage of a tracked vehicle chassis are equipped with hydraulic shock absorbers, and at least the second and penultimate pairs of suspensions are equipped with torsion bar suspension switch-off devices controlled from the crew compartment, made to ensure the possibility of fixing the road wheels from moving towards the chassis body in any of them. position Devices for switching off torsion bar suspensions in the on position are used as pneumatic shock absorbers. The design of the torsion bar suspension deactivation device is described, the connection of the torsion bar suspension deactivation device with the chassis control system, ensuring the possibility of fixing the road wheels from moving towards the chassis body when starting off and braking the chassis, and the design of the caterpillar tracks is proposed. The possibility of installation in an electric transmission is provided. The technical result is an increase in the technical and operational characteristics of the chassis by improving the design of the chassis and engine compartment.

However, this solution does not disclose design features that ensure high cross-country ability of a tracked vehicle.

The mobile robot chosen as a prototype (RU14037U1, publ. 2000.06.27) is known, on a tracked chassis designed to move along steep (up to 40°) slopes, stairs, as well as in a contaminated atmosphere due to the presence of high clearance and sensors (chemical and ultrasonic) .

However, this solution does not disclose design features that ensure high cross-country ability of a tracked vehicle.

Disclosure of utility model

In one aspect of the utility model, an all-terrain robot is disclosed, comprising:

- a body with tracked movers attached on both sides,

characterized by the fact that

the total width of the caterpillar tracks is greater than the width of the hull,

the housing contains a battery pack and electric drives for each tracked propulsion unit,

The ratio of the robot's width to its height is from 2 to 5.

In additional aspects, the robot is further disclosed to include a protective casing covering the body and tracks or covering the body and track mechanism; contains cameras on the front and rear sides; cameras are protected by impact-resistant glass; dirt ejectors are contained above the tracks; contains quick-detachable protection for tracked movers; contains an electronic module to protect against operator errors; contains windshield wipers.

The main objective of the stated solution is to create a tracked remote-controlled vehicle with high cross-country ability.

The essence of the solution is that in the proposed solution, the total width of the robot's tracks is greater than the width of the body, the height of the entire robot is 2-5 times less than its width, and the tracked movers are powered by electric motors.

The technical result achieved by the solution is to increase the maneuverability of the robot in comparison with solutions known from the prior art.

Brief description of drawings

Figure 1 shows a top view of the robot.

Figure 2 shows a front view of the robot.

Implementation of a utility model

The proposed robot is shown in figures 1 and 2, in which

101 - body,

102 - caterpillar propulsion device,

201 - drive wheel.

All elements of the claimed solution are connected to each other through assembly operations so as to ensure structural and functional unity. To connect the elements to each other, any operation that is obvious to a person skilled in the art can be performed: soldering, welding, threaded connection, connection using friction forces. Unless specifically stated, the specific type of connection is not essential to the stated solution.

Within the framework of the claimed solution, the housing 101 may be a rectangular parallelepiped with beveled edges or may have a different shape, which is not essential within the framework of this solution. The main requirements for the housing 101 are its strength and the ability to accommodate electric motors and a battery pack.

There can be two or four electric motors (for two or four driving wheels), which is not the essence of the solution. The dimensions of the electric motors are much smaller than other types of motors, which allows the use of a frame 101 of low height. Moreover, the lower the height of the body, the less chance that the robot will roll over when moving over rough terrain, steep ascents and descents, that is, its maneuverability increases.

The drive wheels of the propulsors 102 can be connected to the electric motors either directly or through a gearbox or chain or belt drive.

It is advisable to place the battery pack in the lower part of the housing 101, which also increases its maneuverability for the above reasons.

The crawler 102 can be of essentially any known design, but it is preferable to use crawlers 102 with a minimum height that reduces the overall height of the robot.

The movers 102 are connected to the body 101 through the supporting frame of the movers 102. The main requirement for tracked movers 102 within the current application is that the total width of the two tracks must be greater than the width of the body. This solution reduces the pressure exerted by the robot on the surface and allows it to move through sand, mud, loose snow, swamps, etc. without falling into them and without getting stuck.

The length of the robot is not an essential feature in this application, however, one skilled in the art will understand that there are restrictions on the minimum and maximum length. General considerations: The robot must be long enough to allow the body 101 to accommodate equipment, but not so long that its maneuverability is impaired.

The specific geometric dimensions of the robot are not significant within the framework of this application; only the ratio of the width of the tracks and the body, as well as the ratio of the height of the robot to its width, are stated.

The greater the relative height of the robot, the worse its maneuverability, since the center of gravity rises above the ground and the risk of overturning increases. The authors found that the ratio of the width of the robot to the height of the robot in the range of 2-5 provides significant resistance to falling/overturning and, as a result, maneuverability in most real operating conditions. The robot is designed to deliver goods in rough terrain.

The robot contains an electronic unit configured to receive signals from sensors (at least a camera/cameras), transmit these signals to the operator via wireless communication of any known standard, receive control signals from the operator and transmit control signals to electric motors. Electronic circuits contain at least some of the following: transceivers, processors, controllers, and various sensors. It is preferable to use secure communication to reduce the impact of interference and make it more difficult to intercept control of the robot.

The robot also contains at least one camera to enable the operator to control the robot. A wide-angle camera is preferred.

In one specific embodiment, the robot has overall dimensions of 120×78×30 cm (length, width, height), contains four electric drives, two cameras.

Description of the device operation

The robot is unloaded at the point where the movement begins, if necessary, loaded with cargo, hooking a suitable trailer, filling the corresponding compartment in the body, and turning on the power. The operator receives a signal from the robot's camera and, using a radio control panel, sends signals to the robot to move to the target location.

At the target location, the robot can leave the load and/or pick up a new load and return to the operator.

Embodiment 1

In one embodiment, the robot additionally contains a protective casing that covers the body 101 and tracked movers 102, which prevents damage to the tracks and body when moving in the presence of sharp objects, rockfalls, due to direct or indirect human impact, etc. This increases its maneuverability in difficult environmental conditions.

The casing can be one-piece or consisting of parts that separately protect the housing 101 and the tracked movers 102 separately. Preferably, this casing is quick-detachable.

The cover may only protect the track mechanism 102 and not the tracks themselves, meaning the tracks remain completely open, which may be useful in some applications. The propellers 102 may have a height such that their top surface is higher than the top surface of the body 101, which maintains the mobility of the robot in the event of a rollover.

Option 2

In one embodiment, the robot includes cameras on the front and rear sides, which improves maneuverability by not requiring the robot to turn around to move backwards. This can be useful when driving in a narrow space: between stones, trees, etc.

Preferably, the cameras are protected by impact-resistant glass, which allows the robot to move in conditions of hail, rockfall, etc.

Preferably, the robot contains windshield wipers on the protective glass of the chambers, which allows you to confidently control the robot in snow and rain, which also increases its maneuverability, since, other things being equal, the operator will not lead the robot, for example, into a hole from which it cannot get out.

Option 3

In one embodiment, the robot contains dirt ejectors above the tracks, which prevents the accumulation of dirt and increases its permeability. Dirt ejectors can be of any known design, which is not the essence of the solution.

Embodiment 4

In one embodiment, the robot contains an electronic module for protecting against operator errors, designed to stop the robot in front of an insurmountable obstacle (ditch, pit, tree, stone), and signal about an identified slope with a dangerous steepness from the point of view of overturning. Specific options for implementing such protection are not described in detail here, since they do not require a person skilled in the art to apply creative efforts for implementation.

The embodiments are not limited to the implementations described above, but other embodiments of the solution will become apparent to one skilled in the art based on the information set forth in the description and knowledge of the prior art, without departing from the spirit and scope of this solution.

Elements referred to in the singular do not exclude the plurality of elements unless specifically stated otherwise.

The methods disclosed herein contain one or more steps or actions to achieve the described method. The steps and/or actions of the method can replace each other without going beyond the scope of the solution formula. In other words, unless a specific order of steps or actions is specified, the order and/or use of specific steps and/or actions may be varied without departing from the scope of the claim.

While exemplary embodiments have been described in detail and shown in the accompanying drawings, it is to be understood that such embodiments are illustrative only and are not intended to be limiting to a broader solution, and that the solution should not be limited to the specific arrangements and structures shown and described. since various other modifications may be apparent to those skilled in the art.

The features mentioned in the various dependent claims, as well as the implementations disclosed in various parts of the description, can be combined to achieve beneficial effects, even if the possibility of such combination is not explicitly disclosed.

Claims (8)

1. An all-terrain robot containing a body with tracked movers attached on both sides, characterized by the fact that the total width of the tracks of the tracked movers is greater than the width of the body, the body contains a battery pack and electric drives for each tracked mover, the ratio of the width of the robot to its height is from 2 up to 5. 2. The robot according to claim 1, characterized in that it additionally contains a protective casing that covers the body and tracks or covers the body and the track mechanism. 3. The robot according to claim 1, characterized in that it contains cameras on the front and rear sides. 4. The robot according to claim 3, characterized in that the cameras are protected by impact-resistant glass. 5. The robot according to claim 1, characterized in that it contains dirt ejectors above the tracks. 6. The robot according to claim 1, characterized in that it contains quick-release protection for tracked movers. 7. The robot according to claim 1, characterized in that it contains an electronic module for protecting against operator errors. 8. The robot according to claim 4, characterized in that it additionally contains windshield wipers.