RU2241594C1 - Mobile robotics complex - Google Patents

Abstract

FIELD: robotics complex, namely used in extreme condition.

SUBSTANCE: complex with remote control system includes anthropomorphous manipulator mounted on housing of chassis, self-propelled chassis, electric automatic and telemechanic devices, remote control station. Powered arm of manipulator is in the form of rigid three-dimension frame having lengthwise jaws and cross braces; head portion of said arm includes active differential type articulation joint and relief springs joining head portion of arm with supporting and rotary platform of manipulator. According to invention manipulator may perform operations for handling objects whose mass is equal to or more than that of manipulator itself at maximum extension of manipulator hand.

EFFECT: improved design, enlarged using range of manipulator.

9 cl, 9 dwg

Description

The invention relates to the field of robotics, and in particular to its part where the manipulator together with the carrier, for example with a crawler chassis, is a single mobile robotic complex (RTO) with autonomous power supply and a remote control system designed to operate in extreme situations closed from direct visual observation of positions at a safe distance for a person from the place of work.

The invention can be used:

- in the elimination or prevention of industrial accidents;

- when working with explosive objects and substances;

- during chemical, radiological and other reconnaissance.

In addition, the invention can be used as in-process technological equipment, where, according to safety conditions, the presence of a person is unacceptable, for example, with prohibitive gas contamination, radiation, in a microbiological environment hostile to humans and other similar conditions.

The known design of the mobile robotic complex MRK-25 is the development of NIISM and SKTB MSTU. Bauman, 1995. Source of information on MRK-25:

- Design and technological documentation NIISM and SKTB MSTU. Bauman, development 1995. In addition, this development is known from the following publications:

- Special Technology magazine No. 1-4, 2000. Series of articles:

The technology of using mobile remotely controlled systems ”;

- “Civil Protection” magazine No. 4, April 1998, pp. 9-12, article - “Intuition - experience - calculation”.

Also known is the design of a mobile robot for explosive ordnance disposal BRAT company KURT MITTERFELNER (KM) - GERMANY. Sources of information:

The prospectus of KURT MITTERFELNER (KM), which details the technical data of the BRAT self-propelled robot (a copy of the prospectus is attached). In more detail, taking into account all BRAT modifications issued by KM, you can find it on the Internet on WWW. Ken tree. Con / BRAT.htm.

Both mobile robots differ in their weight and size characteristics - BRAT belongs to the category of small machines, and MRK-25 - to the average weight category up to 250 kg.

The MRK-25 undercarriage is made with a single tracked contour of each side and with variable geometry of the tracked contours, and BRAT - with additional front tracked carts.

Common to both RTOs are the constructive solutions of the manipulators, which consist in the fact that the movements of the shoulder and forearm in each of them are carried out using lever systems, which drastically reduce the carrying capacity of the manipulators and the size of the service area, and the dead weight of the manipulators is many times greater than their carrying capacity.

In addition, the known design of RTOs according to US Patent No. 4932831 Jun. 12.1990, which is the prototype of the claimed invention. In the manipulator of this RTO, the movement of the shoulder, forearm and rotation of the grip are carried out by independent rotary drives, which are directly integrated at the joints of the shoulder, forearm and grip. All drives are located on the “arm” of the manipulator and make it heavier on the one hand, and on the other hand create additional loads on the shoulder, since the drive mechanism of the forearm along with the electric motor and gearbox is in the joint of the shoulder and forearm and the bending moment arising from the load at the grip, completely transferred to the shoulder. This arrangement sharply increases the requirements for the strength of the “arm” elements and to increase its weight and, as a consequence, reduce the carrying capacity of the manipulator and increase the ratio between the dead weight of the manipulator and its carrying capacity.

The essence of the invention is a set of features that allow, in a remotely controlled mode of operation of an RTO, an anthropomorphic manipulator of an RTO to provide operations related to moving objects at the maximum reach of the “arm”, when the shoulder, forearm and hand are on the same line parallel to the supporting surface of the chassis of the RTO equal to or greater than the manipulator's own weight.

To solve this problem, the structurally layout solution of the manipulator mounted on the body of the self-propelled chassis is made so that the heaviest structural elements are extremely displaced to the supporting-rotary zone of the manipulator, the most loaded elements have compensators that reduce bending stresses, and the necessary moment for moving the forearm is not created on the output shaft of the drive, and in a special intermediate element in the head of the shoulder - in the active hinge of a differential type.

For this, the power shoulder in the anthropomorphic manipulator is made in the form of a rigid spatial frame, consisting of longitudinal cheeks and transverse couplers, and in the head part contains an active hinge of a differential type, as well as unloading springs connecting the head part of the shoulder with the support-rotary platform of the manipulator, the active hinge includes a stationary carrier with satellites, a pinion drive shaft, the cantilever end of which contains a forearm drive chain sprocket, a movable crown with a forearm drive lever rd and the movable block brush drive sprocket and wherein the carrier is fixedly secured in the longitudinal cheeks spatial power arm and frame is a basic element of the active joint. The internal cavity of the carrier contains supports for the drive gear shaft, and the outer surfaces of the carrier have trunnions for the movable crown and for the block of chain sprockets of the brush drive. At the same time, the lower part of the manipulator’s power arm is pivotally swiveled in a vertical plane on one side to the platform of the support-rotary device of the manipulator by means of cylindrical surfaces of the casing of the forearm and hand drive mechanisms, the drive sprockets of which are connected kinematically through the drive chains to the active joint and through it with forearm and brush, and on the other hand the lower part of the power shoulder by means of a drive moving the shoulder in a vertical plane also rnirno connected to the platform supporting the manipulator-rotator and with a drive rod swing arm pivotally connected to the transverse arm via an intermediate tie double-arm lever, and the actuator housing pivotably, with swinging arm in the swing plane is connected to the rotary platform supporting-arm device. In addition, in the active hinge of the manipulator, each axis of the stationary carrier contains a satellite block, each consisting of at least two gears, which are rotatably mounted independently on the axis of the stationary carrier, and the forearm and hand drives are mounted on the platform of the rotary support device is motionless and coaxial with each other and their common axis is aligned with the swing axis of the arm of the manipulator, and in them the leading chain sprockets are simultaneously the bodies of the planetary gearboxes, and cylindrical housing drives have transverse grooves in the planes of leading stars. In addition, in the manipulator’s brush, the tong has a jaw displacement drive, a tong rotation drive with respect to the jaw symmetry axis and a jaw tracking camera, for which the brush docking unit has a rotary-type electrical contact connector, and the tong jaws are made in a cross-section in a U-shape and have non-metallic liners along the entire length, for example of rubber, the thickness of which exceeds the height of the protruding parts of the jaw jaws, which, on the outer bevels, have clamps for attaching the interchangeable tool, for example measures gidrorazrushitelya.

The design of the RTOs according to the invention is illustrated by drawings, where Fig. 1 shows a mobile robotic complex with a manipulator in the transport position (in the folded state).

In Fig.2 and Fig.3 - the manipulator in the deployed position (the chassis is not conventionally shown), i.e. in working position with the maximum reach of the “arm”, when the shoulder, forearm and hand are in one line parallel to the supporting surface of the chassis.

In Fig.4 is a differential hinge in section (BB).

Figure 5 - docking of the forearm with the handle of the manipulator (BB).

Figure 6 - jaw gripper brush manipulator (G-D).

In Fig.7 - place of docking with a slewing ring and a shoulder drive (cross section DD).

On Fig - docking of the shoulder with a translational motion drive (front view).

Figure 9 - MRK (control post conditionally not shown), where the manipulator is shown in various operating positions.

Mobile robotic complex (RTO) is a single system of components and assemblies that are functionally interconnected by mechanical, electrical means.

In an RTO chassis, a remote control post and an anthropomorphic manipulator contain power plants, for example, batteries, electroautomatics, telemechanics, and computer blocks, which are not shown in graphic images, but which will be referenced in the process of describing the performance of RTOs in dynamics.

RTOs as a whole consists of a mobile chassis 1 (Fig. 1) and a remote control station 2, which are interconnected by a command and information cable 3 and a receiving cable reel 4. An anthropomorphic manipulator 5 is mounted on the chassis 1.

The manipulator consists of a shoulder 6 (FIG. 2 and FIG. 3), a forearm 7, a brush 8, a slewing ring 9 with a drive 10, a base plate 11 and a support platform 12, on which the supporting bracket 13 is fixedly mounted.

The drive of the forearm 14, the drive of the brush 15 and the drive of the shoulder 16 are mounted on the supporting bracket 13.

The arm of the manipulator 6 is made in the form of a rigid spatial frame and consists of longitudinal cheeks 17 and 18, interconnected by couplers 19. Each longitudinal cheek of the shoulder contains springs 20, one end of which is fixed to the head of each cheek, and the other to the bearing bracket 13.

The forearm 7 is made in the form of a power cantilever beam 21, one end of which is connected via the active differential hinge 22 to the head part of the shoulder, and the other is pivotally swiveled in the vertical plane to the handle 8 of the manipulator.

The brush 8 contains a supporting body 23, in which the drive 24 for rotating the tong 26 is mounted (for rotation around the longitudinal axis) and the drive 25 for controlling the jaws 27 of the gripper 26.

The active hinge 22 (Fig. 4) contains a stationary carrier 28, pinion shaft 29, satellite blocks 30, supporting axles 31, a movable crown 32 with a lever 33 fixed thereon, the free end of which is fixed on a sidewall 34 fixedly connected to the carrier beam 35 of the forearm 7 (figure 2). Each satellite block consists of at least two gears 75 mounted on bearings 50, which are rotatably mounted independently on the rotation axis 31 on the axles 31 of the stationary carrier 28.

The cantilever end of the pinion shaft 29 contains a sprocket 36 fixed to the bolt 37 with a chain 38 connecting the pinion shaft 29 to the drive of the forearm 14. In addition, the cantilever end of the pinion shaft has a support 39 — a ball bearing mounted in the shoulder 12, where it is also stationary the ends of the supporting axes 31 are fixed, by means of which the carrier 28 is fixedly mounted relative to the longitudinal cheeks 17 and 18, and the crown 32 itself is mounted for rotation on bearings 40 and 41, the inner rings of which are fixedly mounted on the axles 73 and 74 of the fixed The leg carrier, and the outer bearing rings are fixed in the supporting surfaces of the movable crown.

The opposite end of the stationary carrier has a block of chain sprockets 42 and 43, of which the chain sprocket 42 is connected to the brush 8 via the chain 45, and the chain sprocket 43 is connected to the drive 15 of the brush 8 by the chain 44. Chain sprockets 42 and 43, made as a single block , through bearings 46 and 47 are supported on the pin 74 of the stationary carrier 28. Bearings 46 and 47 are fixed to the stationary carrier using a cover 48 and a bolt 49.

The arm 8 of the manipulator is mounted on the end of the forearm 7 with the possibility of rotation (swing) in the vertical plane, for which it has a housing 51 (figure 5), a shaft 52, a split sleeve 53, a chain sprocket 54, pillow blocks 55, bearing housings 56 and 57, nut 58, cover 59, and bolt 60.

The chain sprocket 54 through the chain 45 (figure 4) and chain sprockets 42 and 43 and the chain 44 is connected to the drive brush 15. In addition, the brush 8 contains an electrical contact node 61 of the movable type.

In the brush 8 of the gripper 26, the jaws 27 (Fig. 6) are combined and consist of rubber inserts 62 of the grips 63 and pressure brackets 64.

The lower part of the shoulder 6 rests on the cylindrical surfaces 71 and 72 of the drive housings 14 and 15, which are interconnected by an axis 67, which is a support of the intermediate lever 65, one end of which is pivotally connected to the rod 66 of the drive of the shoulder 16, and the other with a coupler 19 of the shoulder 6 the manipulator.

Drives 14 and 15 have chain sprockets 69 and 70, of which sprocket 69 is connected to sprocket 43 through chain 44 and through chain sprocket 42 and chain 45 to sprocket 54 of brush 8, and sprocket 70 is connected through chain 38 and sprocket 36 through differential hinge 22 to forearm of the manipulator.

RTO works as follows.

All operations performed by RTOs are carried out according to commands from a remote control station 2 via command and information cable 3 and cable reel 4, after which the code signal is sent to computer blocks and electro-automation blocks (computer blocks and electro-automation blocks are not shown in the drawings) chassis 1 where, after decoding, they come to the blocks of electroautomatics and then to the actuators.

The chassis of the IRAs is made of a caterpillar type with a variable geometry of the caterpillar contour with a classic drive from the rear sprocket, and all movements of the chassis (carrier) consist in changes in the speed and direction of rotation of the leading sprockets of the caterpillar contours.

The operation of the manipulator 5 is complex and multifaceted, and the number of operations and, therefore, teams depends on the complexity of the task.

The operation of the manipulator 5 begins with the conclusion of its transport position (figure 1) in the working position, for example, to service the front hemisphere RTOs.

In this case, the following occurs, and the whole complex of operations is carried out by a series of consecutive commands.

On command from the control post “initial position”, a command is issued to rotate the manipulator 180 ° and the drive 10 of the slewing gear 9 and the supporting platform 12, together with the bracket 13 and the mounted manipulator 5, is turned relative to the vertical axis II by the specified 180 °. Then follows the command to raise the shoulder 6 to its original position, for example, as shown in Fig.9. By this command, the translational motion drive 16 is turned on, the stem 66 extends from the drive housing 16 and the lever 65 is moved, which, turning on the axis 67, acts on the transverse coupler 19, and through it on the cheeks 17 and 18 of the arm 6, which rises up. At the same time, the lower end of the shoulder rotates relative to the common axis 67 and the drive housings 14 and 15.

When the forearm and hand are put into working position, the drives 14 and 15, the forearm drive and the brush rotation drive, are included in the operation. When raising the forearm, the drive 14 is turned on and the movement through the chain sprocket 70, chain 38 and chain sprocket 36, pinion shaft 29, satellite block 30, movable crown 32 and lever 33 of the active hinge 22 is transmitted directly to the forearm, turning it in a vertical plane relative to the axis of the active joint 22.

When changing the position of the brush 8, moving the brush 8 in a vertical plane, the drive 15 is turned on and the movement through the chain sprocket 69, chain 44, sprocket 43, sprocket 42, chain 45, sprocket 54 and shaft 52 is transmitted to the housing 51 of the brush 8.

As for the operation of the gripper 26 of the brush 8 and the jaws 27 of the gripper, the rotation of the gripper (rotation) relative to the housing 51 of the brush 8 and the movement of the jaws 27 is also carried out by command from the remote control post and is performed by turning on the drive 24 for rotating the gripper and the drive 25 for controlling jaws 27 .

The described translation of the manipulator from the transport position to the working one corresponds to the description of the manipulator’s operation in the normal operating mode when performing a specific task, since any change in the position of the “arm” in space in the area of the working hemisphere will be accompanied by the execution of the same commands by the work of the same manipulator nodes and when this will take part in the work of the same elements of the knots and the design of the manipulator as when translating the manipulator from the transport position to the working one.

Claims (9)

1. A mobile robotic complex (RTO) with remote control, designed to work in extreme situations, containing an anthropomorphic manipulator mounted on the chassis of the chassis, a self-propelled chassis, electric and telemechanics units and a remote control post, characterized in that the RTO has an anthropomorphic manipulator at maximum the reach of the hand has a carrying capacity greater than its own weight, for which the arm of the manipulator is made in the form of a rigid spatial frame, consisting of longitudinal cheeks and transverse couplers, and in the head part contains an active hinge of a differential type, as well as unloading springs connecting the head of the shoulder with the support-rotary platform of the manipulator, and the active hinge includes a stationary carrier with satellites, a leading gear shaft, the cantilever end of which contains forearm drive chain sprocket, movable crown with forearm drive lever and movable brush chain sprocket, and, at the same time, the carrier is fixedly mounted in the longitudinal cheeks of the spatial frame the power arm and is the main supporting element of the active hinge, in which the carrier contains bearings for the drive pinion shaft, and the outer surfaces of the carrier have trunnions for the movable crown and for the block of chain sprockets of the brush drive, and the lower part of the manipulator arm on one side articulated with the possibility of swinging in a vertical plane connected to the platform of the support-rotary device of the manipulator by means of cylindrical surfaces of the bodies of the drive mechanisms of the forearm and hand, s sprockets which drive chains by kinematically coupled with active hinge and therethrough to the forearm and hand, and on the other side of the lower part of the arm by movement of the actuator arm in a vertical plane is pivotally connected to the support-platform rotator MRC manipulator. 2. RTO according to claim 1, characterized in that in the active hinge of the manipulator, each axis of the stationary carrier contains a satellite block, each consisting of at least two gears, which are rotatably mounted independently of each other in the rotation angle mounted on the axes of the stationary carrier . 3. RTO according to claim 1, characterized in that in the manipulator the forearm and hand drives are mounted on the platform of the support-rotary device motionless and coaxial with each other and their common axis is aligned with the swing axis of the arm of the manipulator. 4. RTO according to claim 1, characterized in that in the manipulator in the forearm and hand drives, the drive sprockets are simultaneously the bodies of planetary gear drives. 5. RTO according to claim 1, characterized in that in the manipulator of the housing of the forearm and hand drives in the work planes of the leading sprockets and chains have transverse through grooves. 6. RTO according to claim 1, characterized in that in the manipulator the rod of the swing arm of the shoulder is pivotally connected to the transverse coupler of the shoulder through an intermediate 2-arm lever, and the housing of the drive is pivotally swingable in the plane of swing of the shoulder connected to the platform of the support-rotary device the manipulator. 7. RTO according to claim 1, characterized in that in the handle of the manipulator the tong has a jaw displacement drive, the tong rotation drive with respect to the jaw symmetry axis and the jaw tracking camera, for which the brush body docking assembly has a rotary type electrical contact connector. 8. RTO according to claim 1, characterized in that in the manipulator the sponges of the grip of the brush in cross section are U-shaped and have non-metallic liners along the entire length, for example of rubber, the thickness of which exceeds the height of the protruding parts of the tongs of the grip. 9. RTO according to claim 1, characterized in that in the manipulator the sponges of the gripping brush on the external bevels have clamps for attaching a replaceable tool, for example, hydraulic breakers.

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