Universal transforming modular robot |
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IPC classes for russian patent Universal transforming modular robot (RU 2166427):
         
 The robotic module for resistance spot welding / 2138376
The invention relates to welding, and is intended for the manufacture of the spacer grids of the fuel assemblies of nuclear power plants
 The manipulator platform / 2093344
The invention relates to robotics and can be used in handling systems automated technological complexes that require precise movement of the parts of the blanks on complex curved or spherical surfaces for welding, cutting, surface hardening, etc
 The module manipulator / 2028928
 The module manipulator / 2022773
 Trunk manipulator / 2009884
The invention relates to mechanical engineering and can be used in industrial robots for painting works
 Robot module for resistance spot welding / 2304498
Invention relates to resistance spot welding device for manufacture of spacer grids of nuclear reactor fuel assemblies. Provides robot module includes welding machine, industrial robot with welding gun with electrodes installed on robot arm, control system and tables with device for fastening spacer grid to be welded. Device for fastening spacer grid to be welded is made in from of multijaw chuck with jaws enclosing perimeter of said grid. Electrodes of welding guns have spherical working surface and they are provided with cylindrical connecting element. Said connecting element is arranged in electrode holder at angle to perpendicular drawn to welded surfaces. Multijaw chuck is provided with platform with reduced height sections. Slots are made on jaws enclosing perimeter of spacer grid.
 Robot module for resistance spot welding / 2325979
Invention relates to nuclear power, in particular, to production of power reactor fuel element spacer lattice using a robot module for resistance spot welding. The module incorporates a welding machine, an industrial robot with tongs fitted on the robot arm and fixing the electrodes, a control system, a table accommodating an attachment device for spacer lattice to be welded, the said device being made in the form of multi-jaw chuck with jaws enveloping the lattice perimeter. The chuck is provided with a platform with a blind hole to receive a sleeve. The hole depth corresponds to the size the sleeve extends by relative to the lattice cell. The said platform incorporates the spacer lattice locks, spacer lattice reference point and a spring-loaded bar. The locks allow their arrangement in the lattice cells. The reference point allows its arrangement in one of the spacer lattice channel holes. The bar is fixed on the platform and can move towards the sleeve. There are base elements arranged on the bar face to enter the sleeve slot.
 Spatial irregular-shaped items machining device / 2353502
Invention refers to engineering industry, and can be used for grinding, polishing and milling spatial polysurfaces of details, and namely propeller blades, working part of gas, steam or hydraulic turbine blades. At the device bottom there arranged is the point for installing the machining tool with the tool rotary drive, and the point for installing the machined item in the form of multilink manipulator. There provided are two mechatronic modules of rotary and translational movements - machined item movement module and cutting tool rotary drive movement module. Each module consists of a housing, splined bush, nut and outlet shaft. Stators of two synchronous electric motors are fixed on the housing, rotor of the one synchronous electric motor - on splined bush, and rotor of the other synchronous electric motor - on the nut. Outlet shaft is connected by means of a rectilinear kinematic pair made in the form of a spline connection to splined bush, and by means of a screw pair - to nut. Outlet shaft is hollow. Nut and splined bush are connected to the housing by means of turning pair made in the form of ball bearing or slide bearings. All kinematic pairs of each mechatronic module of rotary and translational movements have a common axis. There provided is at least one kinematic pair with the appropriate drive which is intended for moving the cutting tool rotary drive movement module housing relative to machined item movement module housing.
 Manipulating platform / 2365488
Manipulating platform comprises following components: frame; spherical mechanism with turning motor on vertical axis and two arc motors on horizontal axis, with aspect sensors, with platform mounted in plane of rotation of turning motor between two pairs of arc motors with orthogonally related planes of rotation; cross-slide table with linear motor which table is mounted in parallel and movably relative to the platform; control signal units. Inductors of one pair of arc motors are immovably mounted on the frame diametrically; their movable arc magnetic cores are pivotally mounted on turning motor stator structure along corresponding horizontal axis. Inductors of the other pair of arc motors are mounted on the frame diametrically pivotally; their movable arc magnetic cores are mounted on turning motor stator structure immovably along the other horizontal axis; movable part of linear motor is pivotally fixed directly on the cross-slide table. Inductor of linear motor is immovably mounted on turning platform between frame and inductors of arc motors pivotally mounted on the frame. There are flexible conductors spiraled into harness. Between the inductor and arc magnetic core of one of the arc motors pivotally mounted on the frame, there are flexible conductors settled into harness curved along sinusoid.
 Method for multialternative optimisation of automation modules of structural synthesis of mechatronic modular robots / 2493577
Method for multialternative optimisation of automation modules of structural synthesis of mechatronic modular robots is proposed, in which at performance of synthesis of the multiinvariant model structure of mechatronic modular robots, and further fixation of obtained optimum solutions, a variety of design elements is considered and corresponding alternative variables are entered by presenting discrete numbers corresponding to those elements in binary notation; after that, the number of modules combined in one robot, mainly without distinct structure are marked, and connection of every new module is provided to earlier assembled ones along the chosen direction and coupling of its first interface platform is performed to one of the free ones on any other structural members occupying the closest extreme position in this or that row; after that, alternative variables are entered; at that, for optimisation structural synthesis there chosen are values of alternative variables
 Mechanotronic modular robot / 2514925
Invention relates to machine building, particularly, to robotics. Proposed robot consists of at least two articulated modules. Articulation of every new module with preassembled one (ones) is performed in selected direction by coupling of its first interface site with one of free structural elements in extreme position in one or other line. Alternative variables for algorithms of control over mechanotronic modular structure for description of periodic law parameters are selected proceeding from the following ratio: Angle=A+Bsin(ωt+φ), where A is the magnitude of generalised coordinate relative to which periodical motion occurs; B is the amplitude of periodic oscillation of generalised coordinate. Total magnitude |A|+|B| may not exceed the maximum tolerable deviation of the module generalised coordinate, while φ is the displacement. In compliance with one version for optimised structural analysis, selected are alternative variables
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(57) Abstract: The invention relates to robotics. Transforming modular robot consists of standardized modules with detachable hitch. Coupling devices have the possibility of connection and disconnection to ensure the restructuring of the robot directly in the process. The robot is equipped with an electronic control circuit with the computer. Inside modules or provided to connect the individual units are mounted to the propulsion device. Modules can be made in the form of telescoping tubes with the mechanisms of change in their length, flat or three-dimensional elements, profiled rods of constant length. The result is the expansion of the robots, improving their reliability and versatility. 4 C.p. f-crystals, 11 ill. The technical field to which the invention relates. The invention relates to robotics, mechanical manipulators. It can be used as:1. The vehicle on a hard surface. 2. Transformable housing. 3. Temporary engineering structures-storage, hangars, bridges, fences, scaffolding, op is m for non-standard cargoes. 6. Toy ride. 7. The tutorial. 8. Working material of the artist, architect and designer. 9. Means for positioning unstable objects. 10. Kinetic computer interface. 11. Aircraft (including lighter than air) of variable volume and geometry. 12. Convertible radar, antenna TV, radio. 13. Convertible furniture. 14. Military installation, wide application: anti-personnel, de-mining system, etc. 15. Agricultural installation, wide application, for ploughing, irrigation, harvesting, etc. 16. A variety of space structure. 17. Device for clearing obstructions in the woods, in the mountains, rescue people after the earthquake. 18. Installation for raising sunken ships, underwater complex works. 19. Ships with variable displacement and hydrodynamic characteristics. 20. Universal fire setting, for example, to extinguish forest fires, rescue people and extinguish fires in high rise buildings. 21. Installation to save people when CLASS="ptx2"> 23 Decorative surfaces, "active" Wallpaper. ArtKnown universal transforming modular robot, containing standardized modules, equipped with a detachable coupling devices, motor drives and electronic control circuit mentioned motor device (1). This robot is a prototype of the invention. The disadvantages of this design include the low transformation due to the restricted number of degrees of freedom of the coupling device is a rotation around the longitudinal axis, and the impossibility of replacing your own faulty modules in the process, as the connection and disconnection of the coupling device modules are made by man. The invention The present invention is the expansion of the robots, improving their reliability and versatility. This technical result is achieved by: increasing the number of modules to some "excess" value; the placement of the propulsion devices inside the module (1), and in separate blocks, connecting modules; the design features n the public in the process without human intervention; the presence of modules of the electronic control circuit (1) coupling and motor devices and the availability of special computer to control the robot as a whole. The concept of "redundancy" means that the number of modules comprising the robot is certainly more than the minimum required to perform a specific task. This gives a reserve in case of failure of any module, and in conjunction with managed hitch allows you to replace these modules or to restructure when changing task conditions. The number of modules is limited by the capacity of the power source and the speed of the host PC. In various embodiments of the robot as modules can be used: 1. Telescopic tube with a mechanism to change the length and coupling devices at the ends, each of which has three degrees of freedom. 2. Flat or three-dimensional elements with coupling devices having from one to three degrees of freedom. 3. Profiled rods of fixed length connected with special blocks with movement devices that can move along the rods or the 4. Flat elements interconnected in a common plane with flexible managed hinges. Possible combinations of these options. To solve some specific tasks may use different attachments: handles - grips, control cameras, an inflatable elastic bag (aquatic rescue system), flexible hoses and tanks (fire alarm system), etc. Module design provides for the placement of electronic circuits control mechanisms of the module, as well as attachments. Control commands are generated by the computer that is connected to one of the coupling nodes of the robot. Teams have addresses corresponding to the addresses of the modules, which have to work at the moment. Each module has a set of sensors that send information to the Central computer on the performance of the module, its size and orientation of the coupling nodes. Can also be additional sensors: heat, humidity, mechanical stress, etc. On the basis of this information in the computer creates a volumetric model of the robot, changing in the process of real transformation. List of figures graphical images. Information confirming the possibility of carrying out the invention The first version of the robot consists of modules, arranged in the following way. Inside telescopically connected tubes 1, comprising a module housing, a motor mechanism for changing the length of the module 2 and the electronic control circuit 3. At the ends of the module are coupling devices 4 with electrical connectors, soedinjenih coupling devices of the module. Coupling can be accomplished, for example, in the form of a truncated pentagonal pyramid so that the twelve devices connected to side faces form a dodecahedron. In the off position the robot occupies a minimum volume. The modules are reduced to the limit and laid parallel to form a single package so that they are all interconnected by at least one coupling device, so the robot is always ready to work. After connecting to one of the available coupling devices of the computer with an appropriate program and supply the supply voltage is a survey of the computer all modules about their health, the length and orientation of the coupling nodes. This survey occurs several times per second. Resulting in your computer's memory creates a volumetric model of the robot to which the operator acts. In the working position under computer some modules begin to change the length, the coupling split and join in other combinations, forms a spatial lattice farm. There is a redistribution of the modules inside the robot according to the program as long as he does not take a predetermined form and structure. The second varying devices 4 and servo motors with reduction gears 5, changing the orientation of the coupling device. These motors must be powerful enough to move in the space module with fixed coupling device. Inside the module is a control circuit (not shown). The third variant of the robot consists of two types of equivalent modules: profiled rods and blocks with movement devices. Profiled rod 7 has a square cross-section with grooves complex shape throughout the length of each side, in which are mounted the rack 8 to move the module and conductor tracks 9 to transfer the supply voltage and control signals. Unit with propulsion device consists of a casing 10, the mechanism for moving the rods through the tunnels 12 and the control circuit 3. The transformation of this variant of the robot is similar to the first embodiment with the difference that the movement of the modules relative to the coupling device (which in this case are the blocks with movement devices) is not angular and linear mutually perpendicular directions. In this embodiment, the robot may need multiple devices serving to rotate the rods from one axis to another, PE is the fourth (with fewer tunnels) unit with propulsion devices, which tunnels can be rotated one relative to the other 90o. The fourth variant of the robot consists of flat modules 13 on which are mounted electronic control circuit 3, connected by a controllable articulated flexible connections 14 (for example a bimetallic plates). The concept of "flexibility" means that the connection of the modules is but one of the controllable degrees of freedom, two more uncontrollable, which may occur under the influence of neighboring modules or external forces, such as gravity. The replacement of individual modules can be made as shown in Fig. 11 using a special mounted devices 21 installed on multiple modules of the robot, the movable module 20. The management of each connection individually allows you to get a large number of terrain plane. Obviously, the sizes of modules of any of the above robots can vary depending on application conditions from a few centimeters ("active" Wallpaper, furniture) to a few meters in the power structures (demolition debris, and so on). In Fig. 3 and 9 shows the mobile robot, sostavlennymi devices for the third option, 16, the cabin where the operator and the control computer and the electric generator 17, roaming the load 18, the surface of the substrate 19. In connection with the capabilities of robots to transform into a wide range (especially the first option), the ability to control every point of space within reach, they will be particularly useful where necessary versatility and high reliability. For example, in space during the development of other planets or on the Ground in extreme conditions, fires, earthquakes, shipwrecks, etc. Literature 1. Patent EP 0547421 A1, 25 J 9/08, from 23.06.1993. 1. Universal transforming modular robot, containing standardized modules, equipped with a detachable coupling devices for connecting them together, the propulsion device and an electronic control circuit mentioned coupling and motor devices, characterized in that the coupling device modules made with possibility of connection and disconnection to ensure the restructuring of the robot during operation, the electronic control circuit is equipped with a computer, and a propulsion unit mounted inside the eating, each module is made in the form of a telescopic tube with a mechanism for changing its length, and a detachable coupling device having three degrees of freedom, are mounted on the ends of the tubes. 3. Robot under item 1, characterized in that each module in the form of flat or three-dimensional elements with coupling devices having from one to three degrees of freedom. 4. Robot under item 1, characterized in that the modules are designed as profiled rods of constant length, and connecting the modules separate blocks with movement devices are able to move along the rods in three mutually perpendicular directions. 5. Robot under item 3, characterized in that the flat elements are located in one plane, and the coupling device is made in the form of a flexible hinge.
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