Mobile robot


(57) Abstract:

Usage: in robotics. The inventive design of the propulsion of the mobile robot can operate in a mode wheel mover, and in the walking mode of propulsion. 4 C.p. f-crystals, 7 Il.

The invention is intended for use in robotics, as well as in the sectors of human activity, in which to avoid human presence is dangerous to his health or life environments, the use of remote-controlled multi-function robotic device.

Known manipulator F-3, designed for use in remotely managed mode. The kit includes two Electromechanical manipulator installed on multi-link crawler carrier containing four independent crawler unit, is able to swing relative to the carrier in a vertical plane. The design of the media allows it to change its geometry, which provides the following advantages over mobile robots with conventional carriers:

the device is able to navigate the steep stairs, steadily and can not be removed even on slopes up to 60abouthas Vosloo when the lateral slope of the ground.

However, with all the benefits of this design can't change direction without turning, and moves through the creation of the force of sliding friction between the tracks and the ground, which can be considered irrational to ensure good traction during movement of the carrier on slippery and loose soils.

A device representing a media manipulator and other systems and devices, while the suspension medium is executed in six (three on each side) track Assembly, and the average propulsion stationary relative to the medium, and the front and rear have the ability to swing in a vertical plane. This design media provides him with a high cross, but no rotation of the propellers in a horizontal plane and the presence of caterpillars reduce the maneuverability of the device.

Known mobile robot AMR-2 with improved characteristics (prototype), coinciding with the proposed device to the technical essence and the maximum number of signs. Mobile robot AMR-2 contains media that is made in the form of a housing that has four propulsion is able to rotate relative to the vertical about the and the lever, which sequentially installed on the two driven wheels. Rocker arms with wheels allow the media to change its geometry and thus increase the permeability of the robot in terms of overcoming the stairs, barriers, trenches, etc., the Rotation of the propellers relative to the carrier provides the robot increase agility by giving him the opportunity to start moving from any point in any direction without changing the orientation of the carrier relative to the external environment.

Design media has the following disadvantages:

the ability to efficiently move only method of rolling; when implementing the method of the walk in the device are utilized in synchronous mode, while four pillars, all thrusters, and the amplitude of the vertical cycloidal movement of the carrier is equal to the distance between the axis of the swing lever and the most remote point of the rim of the speaker of the wheel; at the end of the lever round body, which is unable to perform the functions of hooks that can give an additional opportunity to improve cross and overcome obstacles, type the ledge; the impossibility of providing in one design equally high efficient movement of nologo diameter, and in the second case, the required wheel smaller in relation to the dimensions of the stairs diameter.

The aim of the invention is to increase the permeability of the media.

This is achieved by that in a mobile robot, comprising a housing that has multiple feature drives rotatable about their own vertical axes of the propellers, and the composition of each propeller is rotatable around a horizontal axis, on which consistently is driven by two wheels, between each propeller and the hull entered the device stabilization of the spatial position of the housing relative to the horizontal plane, and the composition of each thruster put two rods, the longitudinal axes of which are arranged along the axis of the lever and rod are located on different sides of the wheels and each arm is pivotally connected with each wheel in one located on the rim of the wheel points so that each rod forms a parallelogram mechanism: bar-one spoke wheels 1-lever-spoke another wheel and able to make a plane-parallel motion, with at least one end of each bar stands for the dimensions of the wheels.

Set out a set of presencebroadcast compared to the prototype. In addition, this goal is promoted by the hinge connection of one rod to the wheel diametrically opposite the hinges of the other arm on the other side of the wheels, the wheels of one thruster kinematically connected, for example, an endless chain with gear ratio 1, the two wheels of each thruster are in synchronous rotation from one of the engine and the axis of swing of the lever passes through the axis of the wheel, the dimensions of which are rods. The second wheel has a rim, the diameter of which is smaller than the diameter of the first wheel, through which passes the axis of swing of the lever, protruding ends of the rods are provided with hook fastenings located in a plane parallel to the plane of the wheels. In addition, the device stabilization of the spatial position of the housing relative to the horizontal plane is made gearless and passive, for example, in the form of torsion.

The proposed device allows to combine in one design media mobile robot such methods of movement as running and walking, which increases the permeability of the mobile robot. In addition, the media due to the presence of hooks acquires a new method of moving in space is a method of grasping-pulling to the places and surfaces with solid high ledges.

In Fig. 1 shows a mobile robot in position rolling, side view; Fig. 2 - mobile robot in position rolling, front view; Fig. 3 is a kinematic diagram of the propulsion of the mobile robot; Fig. 4 - mobile robot in position away; Fig. 5 - propulsion of the robot and the trajectory of movement of the point of attachment of the propulsion device to the carrier; Fig. 6 - execution rods propulsion, their attach and diameters of the wheels; Fig. 7 - the three phases of the movement of the mobile robot on the stairs.

The proposed device consists of a casing 1 carrying the container 2 with the apparatus, the pointing device 3 and four thruster 4, which are installed in the corners of the housing 1 by means of a parallelogram mechanisms. Each parallelogram mechanism consists of a support 5 that is installed using a uniaxial hinge 6, the swinging of the levers 7 and uniaxial hinges 8 and 9 on the housing 1, and the bearing 5 can make a plane swing in the plane of the lever 7 relative to the housing 1. The hinge 9 is installed torsion bar 10, one end of which is connected with the lever 7, and the other with the housing 1 in the support 11, the torsion bar 10 passes through the hinge 9 and the lever 7 torque whose magnitude is chosen with the aim of introducing an elastic suspension of the housing 1 when Digi 13, an output element of the gearbox 14 and the motor 15 of the drive rotation of the propulsion device 4 relative to the vertical axis. The gear 13, the gear 14 and the motor 15 is rigidly installed in the rack 16 of the propulsion unit 4, fixed to the support 5 is made by means of a bearing Assembly, which has a vertical axis 17, is rigidly connected with the stand 16. In the bottom of the rack 16 is a horizontal axis, on which is mounted a rocking lever 19. With the lever 19 is rigidly connected gear 20, meshing with the gear 21, gear 22 and the motor 23 to drive the swing arm 19. On the axis 18, the inside lever 19, is fixed a sprocket 24 and bevel gear 25, and the ends of the axle 18 mounted wheel 26. With the toothed wheel 25 is in engagement bevel gear 27, which is the output gear 28 and motor 29, the drive wheels 26, which is rigidly connected with the lever 19. The connection of the lever 19 with a rack 16 implemented where it passes through the lever 19 axis 18, which is produced by means of bearings. Through the lever 18 parallel to the axis 18 passes axis 30, the ends of which is equipped with small wheels 31, and the inside lever 19 with the axis rigidly connected to the sprocket 32, through which passes the endless chain 33, covering also the second transmission is 1. Each of the wheels 26 and 31 has a disk similar to axis 34 installed at the same distance R from the axis of the wheels 26 and 31. On the axes 34 of the wheels 26 and 31 on each side of the lever 19, the rod 35. As the distance between the holes of the rod 35, which includes the axis 34, is equal to the distance between the axes of the wheels 26 and 31, and the distance from the axis 34 to the axes of the wheels 26 and 31 is the same, the result is a parallelogram mechanism which includes a rod 35, the wheels 26 and 31 and the lever 19. When the rod 35 by the rotation axis 18 and wheels 26 and 31 makes a plane-parallel movement in a vertical plane, and each point of the rod 35 rotates on a circle with radius R. One end of the rod 35 is nominated for the dimensions of the propeller 4 and ends with a hook 36.

In Fig. 6 shows a variant of the propulsion device 4, in which the wheels 26 and 31 are made in one diameter, and the rod 35 is made and installed so that when the lower position of the axes 34 and the lower surface of the rod 35 coincides with the outer surface of the rims of the wheels 26 and 31, i.e., in this position, the rod 35 may perform the functions of skis or rest on a support surface (ground floor) between the wheels 26 and 31.

The robot works as follows.

and at best, speed, position and torque.

During the movement of the rod 35 with the lever 19 (see Fig. 1) is rotated by the actuator (21, 22, 23) of the swing lever 19 in a horizontal position and the propellers 4 rest on the ground (floor) of the rim 26. Small wheel 31 in contact with the ground do not have, like the hooks 36 of the rod 35. Thus, when depicted in Fig. 1 the provision of mechanisms for the transfer occurs with the wheel - rolling and torsion bar 10 through the levers 7 holds its moment of spin bearing 5 in an intermediate position of the tilting lever 7, while the passive stabilization (depreciation) of the spatial position of the housing 1 relative to the irregularities of the ground.

Torque on the wheel 26 is transmitted from the motor 29 through the gear 28, the gear 27, a gear wheel 25 and the axis 18. The lever 19 is held in a horizontal position through the transfer: motor 23 to the gear 22 and pinion 21 is a gear wheel 20. Through the axle 30 rotates the small wheels 31, i.e., chain transfer provides synchronization of rotation of the wheels 26 and 31 with the same angular velocity, and hence the possibility of a plane-parallel motion (without jamming) rods 35 and rotational motion of each point of the rod 35 and dazepam 36 p CLASS="ptx2">

S p o o b 1. The rotation produced by the tank circuit, when the wheels of one side have a speed of less than (or greater than) the speed of the wheels of the other side. Sometimes the wheels of one side can be inhibited or wheel flanges rotate in opposite directions. In this way, rotation of the housing 1 changes its orientation in space, and the actuators 12 - 15 turning racks 16 may not be invoked.

S p o o b 2. The rotation of the mobile robot with the reversal of the propulsion devices 4 in the bearings 5 are produced in such a way that located on the diagonal of the housing 1 drivers 4 take the position so that the rod 35 become parallel and tangent to a circle drawn through the center of the mobile robot. In this case, all thrusters 4 during the rotation of the wheel 26 rotates around the circumference and the housing 1 is rotated around its center.

S p o C o b 3. Maneuvering produce without changing the orientation of the housing 1. All of the propulsion devices 4 are arranged so that the levers 19 are parallel. For example, if the position of the robot (see Fig. 1) all of the propulsion devices 4 to rotate in bearings 5 on the 90aboutclockwise (viewed from above), the robot without changing the position of the body 1 starts (when the rotation of the wheels 26 to move to the observer, sotramadol point in different directions.

The invention improves the patency of a mobile robot by adding a certain way installed rod protruding beyond the dimensions of the propellers, thereby giving the robot the ability to use appropriate method walk. Installation at the ends of the rods hooks allows you (automatically) the robot to use the new method is grasping for small ledges and pull to them. When running wheels of the same diameter and installing rods tangent to the rim of the robot can be used for walking on loose and sticky soils, where you have low specific ground pressure, for example, in a swampy area. The proposed combination of mechanisms and provide them ways to move allow you to take the proposed design of the media as a basis for creating moving chairs for people with disabilities.

1. MOBILE ROBOT, comprising a housing installed on it can be rotated about the vertical axis propellers, each of which is made in the form mounted on a horizontal axis to rotate a drive around her arm, on which the axes sequentially placed two driven wheels, wherein prepon located one on different sides of the dual wheels and installed them with education together with a wheel of a parallelogram mechanism two rods, pivotally mounted on each wheel, with at least one of the ends of the rods are located behind the gauge wheels.

2. Robot under item 1, characterized in that the hinges mount to the wheels one rod diametrically opposite the hinge mounting the other arm.

3. Robot under item 1, characterized in that the axis of swing of the lever passes through the axis of the wheel, the dimensions of which are rods.

4. Robot under item 1, characterized in that the wheels are made of different diameters.

5. Robot under item 1, characterized in that projecting beyond the dimensions of the wheels and the ends of the rods are provided with hook fastenings located in a plane parallel to the plane of the wheels.


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