RU2544434C1 - Mobile robot - Google Patents

Abstract

FIELD: transport.

SUBSTANCE: mobile robot comprises body with control unit, power supply, and locomotor system devices. Each of the latter is composed by swivel lever with hollow shaft. Wheel pairs are fitted on swivel lever arms axles. Swivel lever and wheel pairs are equipped with drives to operate separately. Wheel pairs can be equipped with track while wheels can have grousers. Robot includes four locomotor system devices arranged at angles of rectangular body. Diameter of wheel pair exceeds the body height. Swivel lever drive comprises motor with reduction gear engaged with hollow shaft. Wheel pair drive comprises motor engaged with the shaft fitted in hollow shaft. Said shaft is engaged with wheel pair axles by chain or belt gearing. Used motors are induction motors. Mikes, equipment and video cameras are mounted at extending modules to allow all-around observation. Robot allows its remote control.

EFFECT: better manoeuvrability, possibility of operation as-turned over.

7 cl, 7 dwg

Description

The invention relates to unmanned, including armored, equipped with weapons, small-sized, mainly remotely controlled (tele-controlled), land vehicles and is intended for military or police tasks.

Known remotely controlled mobile robot according to patent RU2473863, containing an armored body of ceramic plates with a rotary turret, a running system with electric motors-wheels, a battery system, a diesel generator or an internal combustion engine, panoramic located on the body and on the camcorder tower, a sound-pickup homing system control units. The undercarriage system contains telescopic racks of electric wheel motors containing electric motors.

A robot is known by patent RU 2274543, selected as a prototype, comprising an obstacle detection unit, a unit for determining the current location of the robot and a unit for observing the space in front of the robot located in the device housing for moving the robot, connected via information channels to the control unit, and a power source. The space monitoring unit in front of the robot is connected to a surveillance video camera. The robot has a moving means with a mobile communication station located on it. The device for moving the robot is made in the form of a self-propelled cart, which is kinematically connected with the moving means. The obstacle detection unit is equipped with a transmitter and an ultrasonic signal receiver mounted on the housing of the self-propelled cart.

A common disadvantage of known robots is the low cross-country ability and maneuverability. Mobile robots cannot work in an inverted state and in limited space.

The technical result of the present invention is to increase the cross-country ability and maneuverability of a mobile robot. In addition, it provides the ability to move and work in an inverted state.

The technical result is achieved in a mobile robot containing a housing with a control unit and a power source, supporting-motor devices, each of which is made in the form of a rotary lever with a hollow shaft, wheel pairs are mounted on the axles of the rotary lever on the axles, the rotary lever and wheel pairs are equipped with drives made with the possibility of separate action. Wheel pairs can be equipped with a caterpillar track, wheels are made with hooks. The mobile robot contains four musculoskeletal devices located at the corners of a rectangular corusus, the diameter of the wheelset exceeds the height of the casing. The rotary lever drive includes an electric motor with a gearbox connected to the hollow shaft; the wheel pair drive includes an electric motor connected to a shaft installed in the hollow shaft, the shaft is connected to the axles of the wheel pairs; these compounds are made in the form of chain or belt or gears. Asynchronous electric motors are used. In the housing on retractable modules, video cameras are installed that provide four-way visibility, microphones, and weapons. The mobile robot is made with the possibility of remote control.

The invention is illustrated by drawings:

Figure 1 - mobile robot with caterpillar tracks;

Figure 2 - mobile robot with rotary retractable modules;

Figure 3-mobile robot, top view;

Figure 4 - the device drives a pair of wheels and a swing arm;

Fig.5-7 - the possible position of the musculoskeletal device (Fig.7 is a front view).

The mobile robot contains a flat body 1 (metal, plastic, carbon fiber) without protruding parts, in which a control unit and a power source (not shown) are installed, electric motors 6, 7 with gearboxes. The housing 1 is made mainly in the form of a three-dimensional figure, close to the parallelepiped, with rounded edges and corners.

The chassis is made in the form of musculoskeletal devices, each of which is made in the form of a hollow rotary lever 2 with a hollow shaft 3. On the shoulders of the rotary lever 2 on the axles 4 wheel sets 5 are installed.

Wheel pairs can be equipped with a caterpillar belt 14 (figure 1), for this wheel 12 is made with hooks 13.

A mobile robot made with a rectangular body (as shown in figure 3) contains four musculoskeletal devices located at the corners of the corpus 1.

If the diameter of the wheelset 5 exceeds the height h of the body (Fig. 5, 6), the mobile robot has the ability to move and work in two positions (states) of the body: direct and inverted. The height h of the housing 1 refers to the maximum size of the housing vertically. The length of the hollow lever 2 and the diameter of the wheels 12 of the wheel pairs 5 determines the clearance and angle of inclination of the housing 1 when the hollow lever 2 is rotated (Fig. 7).

The rotary lever 2 and the wheelset 5 are equipped with actuators (figure 4), made with the possibility of separate action. So, the drive of the pivot arm 2 includes an electric motor 6 connected to the hollow shaft 8. The drive of the wheelset 5 includes an electric motor 7 connected to the shaft 9 installed in the hollow shaft 8. The shaft 9 is connected to the axles 4 of the wheel pairs 5. The connections in the drives are made using belt or V-belts or chain or gears 15. In the case of gears 15, they can perform the function of gears.

As electric motors 6, 7, asynchronous electric motors are used, which provide rotation of the drives in both directions. This increases maneuverability and simplifies the drive device.

In the housing 1, on the retractable modules 10, cameras 11 are installed that provide a four-way view, microphones (not shown), armament 12. To provide a four-way view, the retractable modules can be installed on each side face of the case 1.

Retractable modules 10 provide the operation and movement of the mobile robot in the upright and inverted state, for this they can be made rotary (rotation around a horizontal axis fixed in the housing, Figs. 1, 2 show options for installing a horizontal axis in a retractable module 10).

A mobile robot is typically configured to be remotely controlled. For this, it is equipped with an information transmitting and receiving unit, which can be made as a separate unit connected to the control unit, or is part of the control unit and is configured to wirelessly receive control signals and transmit information received from cameras (visible, infrared or other ranges) and microphones.

Mobile robot works as follows.

The image from 4 cameras 11 is displayed on the monitor of the operator’s control panel, from which commands are received for movement and firing shots. When driving on a flat surface, drives with electric motors of 7 wheelsets are used. When moving on a surface with obstacles or flights of stairs, including drives of rotary levers 2 with electric motors 6 are used (the mobile robot steps, FIGS. 5-6). When turning, the mobile robot can continue to move and work using retractable modules. In case of flipping, the image transmitted to the operator is not flipped (due to the software).

Due to its small dimensions, a flat housing without protruding parts and the design of locomotor devices, a mobile robot is able to penetrate rooms through doorways and faults in walls, move around various obstacles and steps of interfloor staircases. Before being sent to complete the task, the operator equips the robot with combat elements in the form of 40 mm grenades: (high-explosive fragmentation, thermo-baric, light-noise, with nerve-paralytic or tear gas or the like battle element), depending on the task or specific conditions (equipment can be combined).

The use of musculoskeletal devices with pivoting levers and two actuators acting independently increases cross-country ability due to the possibility of realizing a walking movement pattern. The motion algorithms can be different: rotation of wheel pairs, rotation of rotary levers, simultaneous rotation of wheel pairs and rotary levers, each wheel pair can move independently or synchronously with another wheel pair.

Uses standard 40mm ammunition. Shots can be fired from four sides, there is no need to fully deploy, the tilt angle for the shot is regulated by the levers of the wheelset by lifting the case (any of the 4 sides can set the angle independently).

Claims (7)

1. A mobile robot comprising a housing with a control unit and a power source, supporting-motor devices, each of which is made in the form of a rotary lever with a hollow shaft, wheel pairs are mounted on the axles of the rotary lever on the axles, the rotary lever and wheel pairs are equipped with actuators made with the possibility of separate action. 2. The mobile robot according to claim 1, characterized in that the wheelsets are equipped with a caterpillar track, the wheels are made with hooks. 3. The mobile robot according to claim 1, characterized in that it contains four musculoskeletal devices located at the corners of the corpus, the diameter of the wheelset exceeds the height of the housing. 4. The mobile robot according to claim 1, characterized in that the rotary arm drive includes an electric motor connected to the hollow shaft; the wheel pair drive includes an electric motor connected to a shaft installed in the hollow shaft, the shaft is connected to the axles of the wheel pairs; these connections are made in the form of chain, or belt, or gears. 5. The mobile robot according to claim 4, characterized in that asynchronous motors with gears are used. 6. The mobile robot according to claim 1, characterized in that in the housing on the retractable modules are installed cameras that provide four-way vision, microphones, weapons. 7. The mobile robot according to claim 1, characterized in that it is made with the possibility of remote control.

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