Universal combined arms exoskeleton
FIELD: physics, robotics.
SUBSTANCE: invention relates to military robotics and can be used for proportional increase in force of combatant and at cargo handling. This exoskeleton comprises carcass system, drives, electronic control system and power supply battery. Said carcass system consists of black-reinforced plastic panel following the trunk rear shape and articulated leverage of reinforced-black tubes. Note here that carcass leverage drives are made of solid aerogel composed of carbon nanotubes with admixture of rubber shaped to 40-120 mm diameter cylinders with conical sharpening on ends. Said drives are attached to the levers by clamping of conical ends with the help of synthetic fabric bands impregnated with epoxy resin and tied by steel rivets.
EFFECT: electric power saving, increase in force and self-contained operation time, maximised combat efficiency.
The invention relates to the field of military robotics and can be used for a proportional increase in effort in the movements of the soldier performing a fighting task, and also in everyday life to move cargo.
Known invention, which is described in assistive devices for the movement of the person based on frame-and-lever system and the actuators (see for example No. JP 2011143243, No. US 2013231595, No. NZ 20080586912). But these devices are designed to mimic the motion of human body parts, and not to a proportional increase in muscle strength, since their main purpose is to help people with disabilities. The closest to this invention is analogous to the invention №JP2013082065, which describes a robotic device composed of a frame, the elements of which mimic parts of the human body, systems of actuators based on electric motors and control systems.
The main obstacles to obtaining a technical result, which is provided by the invention are the absence of an independent source of power, a large power consumption of the actuators, incomplete management system that provides instant feedback of propulsion and causes some additional muscle tension in the operator.
I�iversally military exoskeleton consists of a frame of the system of articulated joints and levers, the movement which provide the drives are based on solid-state aerogel of carbon nanotubes with a mixture of rubber, electronic control system and a battery power source. Frame system consists of 16 swivel and 16 elements (levers) is made of carbon fiber tubes with a diameter of 40-50 mm, fastening elements drives the movement and fixing of the control unit and the rechargeable energy source, and a flexible fastening elements of the frame to the body and carbon-fiber panels, repeating the shape of the rear of the torso of a man.
Drives the movement of the levers of the frame is made in the form of cylinders with a diameter from 40 to 120 mm with a conical bevel on two sides, the material of the actuator is made of solid aerogel of carbon nanotubes with a mixture of rubber, to the ends of the pointed parts supplied electrically conductive elements that provides the minimum power consumption with maximum working movement of the levers. The mounting of the actuators to the levers at the expense of crushing cone ends synthetic fabric tape impregnated with epoxy resin and strapped with steel rivets. The electronic control system of the exoskeleton consists of a minimum of 24 sensors positioning of the frame elements relative to the human body, the control unit drives based�wow-integrated controllers, and the radio, electrically conductive elements connecting the control unit drives movement of the levers. The rechargeable battery pack based on lithium-manganese cells, may be formed in a different geometric shape with weight not exceeding 50 kg with specific capacity in the range from 378 to 418 watt-hours per kilogram, is attached to the frame from the backside of the exoskeleton by spring clamps.
The technical result of the invention aims at reducing the consumption of the exoskeleton of electricity, while increasing the accuracy of repetition of movements of the elements of the exoskeleton, their maximum efforts and time of Autonomous work, which will ensure the most effective execution of military missions. This technical result is possible when performing the above-described design features, as specified amount of leverage allows you to exactly copy the possible trajectories of motion of human body parts and all possible degrees of freedom of the joints of the human skeleton. Design acquires such property due to the identical proportions of the lengths of the levers relative to osteoarticular apparatus, resulting in loading of the frame there is no additional resistance to the muscles of the operator of the exoskeleton. The linear dimensions of the actuators motion�tion is based on the fact that the change in the magnitude of their geometrical parameters, under the influence of external forces, generates isometries loads of up to 4.0 MPa cm3/g that is 32 times higher than that of natural skeletal muscle. Use as attachment to the levers drives the synthetic fabric tape impregnated with epoxy resin is the most affordable and technologically advanced way, which allows not to deform or damage to the material of the actuators, which in turn affects the number and the geometrical dimensions of the latter.
Fig. 1 shows three projections of the combined arms of the exoskeleton, where the levers of carbon fiber tubes are connected with pivot joints in zones 1 elbow, knee and shoulder joints of a person swivels 2 in the zone of brushes, swivel 3 in the area of hips, swivel 6 in the area of ankle. The connecting element 4 consists of two halves and attached to the Central tube of the frame by bolting, covering it from both sides, on the back side of the holder has two symmetrical spherical element, which, in connection with the pipes of the shoulder levers form the hinges. The connecting element 5 comprises two hinge joints that connect the Central pipes of the lumbar frame. Drives the movement of the levers of the frame 7
The implementation of the universal military exoskeleton can be made in the following example. Soldier (operator) provides for yourself with flexible retention in the arms, legs, and torso frame of the exoskeleton shown in Fig. 1. Further, by performing the task according to the movement in the specified location or the movement of any cargo, the operator commits human movement of body parts (legs, arms, torso). Management system exoskeleton defines in time and space, speed and coordinates of body parts and elements of the frame and sends corresponding electrical signals to the actuators of movement of the lever frame, which begin to decline, repeating human movement with simultaneous proportional�to enhance increased vector control efforts in the direction of movement. Thus, the operator of the exoskeleton gets the opportunity to accelerate the movement or the movement of goods with the lowest cost own efforts that improves the efficiency of task execution.
The versatility of ECOSLATE due to the possibility of its application in order to move cargo, such as ammunition (missiles, bombs, missiles) aircraft or armored vehicles, but also as a battle suit that will accelerate the movement of the soldier and to ensure its survivability at the expense of additional weapons and defense. Universal military exoskeleton is designed for all genera and species of troops, since the main tasks of all units (infantry, aviation, river and sea fleet, etc.) imply as a combat support, and direct participation in them, where the necessary strength, speed and endurance of the troops.
Military exoskeleton containing frame, drives traffic, electronic control system and a battery power source, characterized in that the frame system consists of a carbon fiber panel that reproduces the shape of the rear of the torso of a man, and 16 levers made of carbon fiber tubes with a diameter of 40-50 mm and 16 United articulated with�disiniame, the mutual arrangement which repeats the basic anatomical mechanisms of the musculoskeletal system the human skeleton, wherein the drive movement of the levers of the frame is made of solid aerogel of carbon nanotubes mixed with rubber in the form of cylinders with a diameter from 40 to 120 mm with a conical bevel on two sides attached to the levers by means of crushing cone ends synthetic fabric tape impregnated with epoxy resin and strapped with steel rivets.
FIELD: weapons and ammunition.
SUBSTANCE: system contains the rotating platform with a mechanical strap, vertical targeting (VT) and horizontal targeting (HT) reducers, weapon with a sight dioptric, the operator control panel, the stabilisation device with position sensors, the video information display device, the weapon control information system, the control unit, VT and HT power amplifiers, VT and HT electric motors, the rotating platform position sensor, the weapon position sensor, VT and HT absolute angular speed sensor, VT and HT electromechanical stoppers, the explosive cartridge unit, electric trigger of installed weapon, three series buses PSh1-PSh3.
EFFECT: high efficiency of aim fire, high efficiency of use of ammunition, reduction of time of shot preparation, higher crew safety.
SUBSTANCE: invention relates to the military technology and can be used in unmanned airborne vehicles (UMAV). Device for control of triggering altitude of warhead of UMAV comprises the transmitting section with the means for control of vehicle altitude and generation of flash with control and radiation means, receiving section with means for noise filtering, reception of audio signals and video recording, ground telemetry station, mean for data processing. Target parameters are specified before flight, flight mission of UMAV is determined, startup of UMAV is performed, UMAV altitude is controlled during flight, flash when archiving the triggering altitude of warhead is made, flash is recorded by the video recording mean, passing through the mean for noise filtering, filtered data are transmitted to the data processing mean, triggering altitude of warhead is calculated, using data from the ground-based telemetry station.
EFFECT: invention permits to improve the accuracy of determination of UMAV warhead detonation.
2 cl, 3 dwg
FIELD: physics, optics.
SUBSTANCE: group of inventions relates to a weapon system and a method of damaging/destroying a remote object with a high-power weapon system. The system comprises at least one firing control system, at least one radar set, at least one analysis and processing device and two or more laser guns. The laser guns can be spaced apart and each consists of an active laser, a telescope as the optical system of at least one tilting mirror, one deformable mirror, an analysis and control device having an adaptive optical system, a precision display system and an optical device in the weapon system is centralised or in the laser gun and at least one tilting mirror, as well as the deformable mirror are placed on the laser beam path. The method of damaging/destroying objects includes: detecting an object, transmitting information to the firing control system, activating precision display system, using a precision tracking device to move the target for each laser gun to the middle of the optical system thereof, irradiating the target with the laser, which directs the corresponding active laser and therefore each laser gun for reflection, using the control system to recheck and activate the active laser, owing to which multiple separate beams are generated and directed to a common point on the object.
EFFECT: designing a high-energy laser system which achieves compact power density on an object.
14 cl, 6 dwg
SUBSTANCE: invention relates to means of hindering movements of biological objects, namely to devices for throwing the net. The device for throwing the net consists of a starting device, a net, loads, and a conical funnel with trunks. The trunks are located in the funnel body and connected to the high pressure chamber of the starting device. The net is laid in the inner cavity of the funnel and closed with the lid. The loads are mounted in the trunks of the funnel and secured around the periphery of the net with the binding sites at the trunk cuts. The trunk length of the funnel is less than the load length. On the protruding parts of the loads there are holes through which the cord is passed, which loops are laid under the lid in the funnel. The cord is connected by the flexible coupling with the funnel.
EFFECT: increasing the probability of catching a biological object, as well as reducing the dimensions of the device.
3 cl, 3 dwg
FIELD: weapons and ammunition.
SUBSTANCE: set of invention relates to remote control electric shock device and its unitary round. Unitary round consists of probe and pan. This device has metal barrel. Probe accelerates in said barrel and extracts unitary round pan. Said pan has obturating band and set of bores (cut-outs). Obturating band separates independent gas channel of the barrel.
EFFECT: higher rate and range of fire, efficiency and accuracy.
16 cl, 8 dwg
FIELD: weapons and ammunition.
SUBSTANCE: set of invention relates to remote electric shock device using twin round built around fixed round displace by dielectric lock in metal barrel. Fixed round consists of prod and pan. Said pan is made of dielectric material. Its accommodated primer metal cap filled with pyro composition. Pan cap inner chamber communicates with prod inner chamber via gas channel. Fired round pan is extracted by pushing it via barrel by the lock dielectric rod. Pan is extracted with time delay.
EFFECT: higher rate and accuracy of fire, increased reliability.
6 cl, 15 dwg
FIELD: physics, acoustics.
SUBSTANCE: invention relates to offshore mine-sweeping and can be used to destroy anti-landing mines and underwater reconnaissance robots, having contactless hydroacoustic and magnetic target and orientation sensors in a coastal area. The invention discloses a method of deactivating anti-landing mines and underwater reconnaissance robots and apparatus for carrying out said method. The method includes complex force action using a electrohydraulic impact and a pulsed magnetic field, said action being applied simultaneously. The apparatus comprises a high-voltage pulsed electric power source (1), an open current-conducting loop (2) and a high-voltage underwater discharger (3).
EFFECT: high reliability of deactivating anti-landing mines and underwater reconnaissance robots.
2 cl, 1 dwg
FIELD: weapons and ammunition.
SUBSTANCE: invention relates to remote shockwave effect on enemy personnel. Method of human target destruction by shockwaves of adjustable length, period and power involves selection of intensity of nervous system irritation by shockwave above pain shock level, selection of periods between shockwaves longer that discernibility time for single pain impulses but shorter than impulse reaction time, and selection of shockwave series duration not less than required to cause reflex asphyxia or cardiac arrest, in order to ensure selective destruction.
EFFECT: selective mass destruction of enemy outside of shelters.
FIELD: process engineering.
SUBSTANCE: invention relates to military and special-duty equipment, particularly, to robot-like complexes for remote operations and in areas unfriendly for people. Higher-flotation wheeled running gear driven by ICE is used as a self-propelled controlled carrier. Set of operating equipment is composed by combat module to fire on various targets at day and night including rotary platform with guidance system, control unit and weapons. Linear motors of the platform control system are electrically connected with servo boosters and mechanically engaged with right and left steering gears and gearbox. Besides said platform is equipped with lock-on and navigation system, data processing system composed of two onboard computers and data transfer and radio communication system hardware.
EFFECT: reconnoitering, guarding and patrolling, antiterrorist operations at day and night.
FIELD: weapons and ammunition.
SUBSTANCE: proposed method consists in programmed blasting of flying shell in blasting zone. Blasting zone is set with the help of short-range radiator (pager) shot into obstacle behind which target is located or shot or thrown directly in zone of target location. Flying shell is blasted in response to radio signals or electron emission from said pager.
EFFECT: efficient hitting of sheltered targets, minimised damage of shelter structures.
SUBSTANCE: uniform, continuous and dense layer of pyrolytic carbon has width of carbon coating, close to monolayer coating, equal 0.4-0.5 nm, density of precipitated carbon coating, equal ρC = 2.0-2.1 g/cm3, specific surface SBET = 90-200 m2/g, cumulative volume of pores ΣVpore≤0.4 cm3/g, average size of pores DBET≤10 nm, most probable size of pores DBJH = 5-7 nm with absence of micro pores. Invention also relates to method of production of such mesoporous composite material.
EFFECT: claimed mesoporous composite material has high-quality thin carbon coating, which totally and uniformly covers external surface and walls of pores of said material.
4 cl, 3 dwg, 3 tbl, 10 ex
FIELD: power industry.
SUBSTANCE: solar element includes cathode and anode, each having external and internal flexible layers, at that these cathode and anode are located such that their internal layers are opposite each other with clearance filled by the electrolyte, at that the external layer of the cathode is made out of transparent polymer material, and its internal layer is made out of carbon nanotubes, the external layer of the anode is made out of conducting material, and its internal layer is made out of nanoparticles of solid state material, dye-sensitised.
EFFECT: simplified process of solar elements manufacturing, reduced price, and increased flexibility.
11 cl, 1 dwg
SUBSTANCE: object is positioned on porous substrate, fixed to the substrate surface and scanned by probe microscopy method. Substrate with through pores of smaller size than the diameter of a study object is used, and an object is fixated by laminar flow of liquid or gas supplied to the substrate from the side of scanning, with clamping force exerted by the flow on an object within 10-12-10-3 N range.
EFFECT: possible study of structures and mechanical properties of organic and inorganic objects, enhanced information content of nano and micro object studies by probe microscopy.
SUBSTANCE: invention relates to magnetophotonics. A method of amplifying the magneto-optic Kerr effect by forming a magnetic photonic crystal with a periodically structured magnetic surface, wherein the surface morphology of the magnetic photonic crystal is determined by the level of the section of the densest face-centred cubic arrangement of microspheres in the <111> plane within a layer of a colloidal crystal.
EFFECT: amplifying meridian magneto-optic effect.
10 cl, 5 dwg
SUBSTANCE: invention relates to a novel salt nanosize weakly crystalline modification 4-methyl-N-[3-(4-methylimidazol-1-yl)-5-(trifluoromethyl)phenyl]-3-[(4-pyridin-3-ylpyrimidin-2-yl)amino]benzamide (nilotinib) hydrochloride monohydrate. Nilotinib is used as an anti leucaemia cytostatic drug during therapy of cancerous diseases. The nanosize weakly crystalline modification is characterised by the following set of interplanar distances (d, E) and respective intensities (Iot, %) 14.70-27.8%; 12.94-19.4%; 11.43-22.2%; 7.474-26.4; 6.480-25.0%; 6.217-26.4%; 6.040-52.8%; 5.134-19.4%; 4.824-16.7%; 4.489-25.0%; 4.367-25.0%; 4.156-30.6%; 4.092-30.6%; 3.738-30.6%; 3.656-34.7%; 3.528-41.7%; 3.468-44.4%; 3.165-52.8%; 3.053-36.1%; 2.999-100%; 2.869-22.2%; 2.823-69.4%; 2.653-33.3%; 2.524-22.2%; 2.383-22.2%; 2.348-22.2%; 2.203-20.8%; 2.151-22.2%; 2.020-19.4%; 1.932-22.2%; 1.849-26.4%; 1.841-25.0%; 1.763-22.2%, three endothermic effects equal to (97.3±0.4) J/g at temperature of (92.6±0.5)°C, (54.5±0.4) J/g at temperature of (173.7±0.5)°C, (215.6±0.4) J/g at temperature of (273.4±0.5)°C, particle size of less than 150 nm, specific surface area of more than 30 m2/g and powder density in free filling of less than 0.024 g/cm3. A method of producing the modification includes preparing an aqueous solution of 4-methyl-N-[3-(4-methylimidazol-1-yl)-5-(trifluoromethyl)phenyl]-3-[(4-pyridin-3-ylpyrimidin-2-yl)amino]benzamide hydrochloride monohydrate at 25-100°C, which is then frozen at a rate of not less than 60 degrees/minute, followed by removing the solvent by freeze-drying for 22-27 hours. The invention also relates to a pharmaceutical composition.
EFFECT: disclosed modification is 15-20 times more soluble than the existing modification A, which means it can be absorbed into the body over a shorter period and has high activity.
3 cl, 8 dwg, 1 tbl, 5 ex
FIELD: measurement equipment.
SUBSTANCE: method may be used in scanning probing microscopy for determination of electric voltage, modulus of elasticity, hardness, viscosity, plasticity of piezoelectric materials, components of micro and nanoelectromechanical systems, as well as biomicroelectromechanical devices. Nanoindentation of the material is done with a stiff indentor with continuous speed. Simultaneously they measure change of electric voltage and contact force as the indentor is pressed into the material, for instance, piezoelectric. Measurements are made at least for two temperatures of the material.
EFFECT: expansion of functional capabilities of material properties detection by nanoindentation, possibility to determine load value that results in phase transition.
2 cl, 5 dwg
SUBSTANCE: distinctive feature of the proposed method is the use of biopag-D and the microcapsule shells of sodium carboxymethyl cellulose, as well as the use of a precipitator - 1,2-dichloroethane in the preparation of nanocapsules by physico-chemical precipitation method by nonsolvent.
EFFECT: simplifying and speeding up the process of obtaining the microcapsules and increase in the yield by weight.
SUBSTANCE: invention provides a method of encapsulating a medicinal preparation via a nonsolvent deposition method, characterised by that the core of the nanocapsule used is fenbendazole, the envelope used is pectin, which is deposited from a suspension in benzene by adding tetrachloromethane as the nonsolvent at 25°C.
EFFECT: simpler and faster process of producing microcapsules, reduced losses when producing microcapsules.
SUBSTANCE: distinctive feature of the proposed method is the use of 2,4-dichlorophenoxyacetic acid and the shell of carrageenan nanocapsules, as well as the use of a precipitator - acetonitrile in the preparation of nanocapsules by physico-chemical precipitation method with nonsolvent.
EFFECT: simplification and acceleration of the process of preparation of nanocapsules and increase in the yield by weight.
FIELD: measurement equipment.
SUBSTANCE: sensor comprises a tight body, inside of which there is a piezoelectric acoustic line, on the working surface of which there is a transceiving interdigital transducer (IDT), loaded to an antenna, which is arranged outside the tight body, a support reflecting IDT and a reflecting IDT loaded to impedance located outside the tight body, the value of which is sensitive to the measured value, and an acoustic absorber applied at the ends of the acoustic line. The impedance is made in the form of a lattice of parallel connected nanorods of zinc oxide.
EFFECT: provision of maximum sensitivity of a sensor to concentration of carbon monoxide due to usage of zinc oxide rods as impedance depending on carbon monoxide concentration, with resistance close to resistance of radiation of a reflecting IDT.
FIELD: machine building.
SUBSTANCE: invention refers to machine building and can be used for the automation of basic and auxiliary operations, for example, in watch making industry or in manufacturing of electronic engineering products. A handler comprises a base with a stationary casing in which a support shaft is mounted in a rotatable way, one shaft end is fitted with a sensor for its rpm control and the other shaft end is fitted by rigidly fixed pivoting platform. A lead screw with a carriage is mounted on the platform, by means of a bracket, the carriage is rigidly connected with a plate able of reciprocating rectilinear motion along the pivoting platform guide. The upper casing with the rotation shaft is rigidly fixed on the plate, a gear sector with a swivel drive is set on the free end of the said shaft, the sector is fitted by a carrier kinematically coupled with an actuating member, the said shaft is equipped by an individual drive.
EFFECT: invention allows for higher precision of actuating member positioning in respect to the part processing points and for the expansion of the equipment operating range.
8 cl, 8 dwg