RU2531630C1 - Combat robot module - Google Patents

Abstract

FIELD: weapons and ammunition.

SUBSTANCE: invention relates to military and special equipment, and namely to robotic systems intended for remote operation under combat conditions; Figure 8 shows a throttle cable actuation pattern. A combat robot module includes equipment attachment devices that are made in the form of a plate arranged on a frame of a self-propelled transport vehicle. The first framed post is installed on the frame, inside which there fixed on a transition plate installed on shock absorbers is a generator driven from an internal combustion engine, which are connected to each other with a belt gearing and a belt tension control mechanism. Near the first framed post, closer to the rear part of the transport vehicle, there fixed on the plate is the second framed post, inside which an arrangement is made for additional storage batteries, and a container for arrangement of hardware, which is made in the form of a box, is installed from above. Detachable panels are arranged on side walls of the box. The self-propelled transport vehicle and combat robot module systems are controlled from a remote control office. A gear selection drive of the self-propelled transport vehicle is made in the form of an electric motor, on the shaft of which a pusher is installed, which is connected to a gear selection lever.

EFFECT: achieving simpler installation of equipment and improving reliability of a robot module.

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Description

The invention relates to military and special equipment, namely to robotic systems designed for remote work in combat conditions: the collection and transmission of reconnaissance information, fire cover, detection and fire destruction of various types of targets.

Known mobile robotic complex (patent RU No. 2364500 C2, B25J 5/00, 08/20/2009), adopted as a prototype. Mobile robotic complex includes a mobile robot, a remote control post, a set of additional equipment. A mobile robot is a self-propelled vehicle with an electric drive propulsion and on-board power sources, on which a remote communication system with a remote control post, an on-board television system, which includes individual video units located on the links of a multi-stage manipulator and on the vehicle body, are mounted, each video unit contains a video camera enclosed in a protective casing with illumination sources, and at least one of the video blocks performing a review functions, located on the working body of the individual guidance drive in horizontal and vertical planes, while the vehicle has a manipulator with a gripper and its drives, an alarm system, connectors for connecting on-board, service equipment and a charger, brackets for strengthening on-board equipment and On-board diagnostic system with on-board control panels and indicating devices. The mobile robotic complex is additionally equipped with an external video surveillance system. The mobile robot additionally includes a device for delivering an external video surveillance system to a given point in the terrain and its operational deployment, and a set of additional equipment - an expandable telescopic extension rod, with a node for its vertical mounting in the aft part of the mobile robot’s vehicle at one end and a video block guidance drive mounting unit performing the survey functions, on the other end.

The disadvantages of the prototype are:

- high complexity of equipment installation devices;

- lack of structural rigidity of the installation devices operating as part of a self-propelled vehicle moving in rough terrain;

- the complexity of installation work;

- low degree of optimization of layout solutions.

The proposed invention solves the problem of increasing the efficiency and reliability of robotic weapons systems.

The technical result obtained by the implementation of the invention is to create a combat robotic module with a sufficient composition of functional means for performing tasks as intended, a high degree of optimization of layout solutions, rigidity of the installation structures sufficient to accommodate equipment with high overall dimensions, operated under conditions of external and your own vibration.

The specified technical result is achieved by the fact that in the proposed combat robotic module containing a self-propelled vehicle, equipment mounting devices, drive mechanisms, a remote control post, on-board power supplies, a remote communication system, an on-board television system, functional equipment, the new is that devices for mounting equipment are made in the form of a plate placed on the frame of a self-propelled vehicle on which the first frame a cage, inside of which a generator driven by an internal combustion engine is fixed on a adapter plate mounted on shock absorbers, connected by a belt drive and a belt tension control mechanism, functional equipment is placed on top of the frame rack in the form of a rotary platform for installing an arms system containing modules designed to accommodate the weapons system and to perform the tasks for the purpose: cradle, observation and target designation unit, ammunition box, tray, device input, horizontal and vertical drive, electronic unit, next to the first frame rack, closer to the rear of the vehicle, a second frame rack is mounted on the plate, inside which additional batteries are placed, and a container for placing hardware in the form of a box is mounted on top with a removable lid and two horizontal partitions installed inside the box, equipped with cutouts at the corners, on the side walls of the box, close to the lid, removable panels, a drive The gearshift of the self-propelled vehicle is made in the form of an electric motor, on the shaft of which there is a pusher connected to the gear lever, and a potentiometer, through the adapter coupling connected to this shaft, the drive for controlling the movement of the self-propelled vehicle is made in the form of actuators for braking the port and starboard, which through the separation axes and the braking levers mounted on the steering column are connected to the left and right side brake cylinders, the gas cable drive is made in the form ervomashinki potentiometer, which is mounted on a shaft lever associated with the gas rope.

The implementation of the device for mounting equipment in the form of a plate placed on the frame of a self-propelled vehicle, allows you to:

- form a flat mounting surface for equipment placement;

- reduce the complexity and ease of installation.

Placing the first frame rack on the plate allows you to create installation locations for the rotary platform of the weapon system and the on-board generator driven by an internal combustion engine, designed to power equipment and hardware placed on a self-propelled vehicle.

The placement inside the frame rack on the adapter plate mounted on shock absorbers of a generator driven by an internal combustion engine, which are connected by a belt drive and a belt tension control mechanism, allows you to:

- optimize the layout of the equipment being placed and not occupy additional volume;

- reduce external vibration influences coming from the chassis of the vehicle, reduce vibration from a running engine and partially dampen vibration from the use of weapons;

- adjust the tension of the alternator belt.

Placing functional equipment in the form of a rotary platform for installing the weapon system on top of the frame rack allows you to:

- to ensure the convenience of mounting the weapons system;

- provide the necessary sector of fire in both horizontal and vertical directions.

The inclusion in the turntable of modules designed to accommodate the weapon system and perform tasks as intended allows:

- to carry out the installation and fixing on the turntable of the weapon system;

-to monitor the controlled area;

- transmit a complete television signal to an electronic unit;

- to carry out loading of the weapons system and the removal of spent cartridges during firing;

- to receive / transmit data from the control unit, switching the supply voltage;

- rotate the turntable;

- receive / transmit data via internal communication channels;

- control engines of vertical and horizontal movement, electric start.

Placing next to the first frame rack, closer to the rear of the vehicle, the second frame rack allows you to:

- compactly install two additional rechargeable batteries and a container in the form of a box with a removable lid, where the hardware is located;

- rational use of free space on the chassis of the vehicle.

Installing horizontal partitions inside the box, equipped with cutouts in the corners, allows you to:

- place hardware of various configurations;

- lay harnesses and cable ducts in the most convenient form for electrical installation.

Placing removable panels on the side walls of the box, close to the lid, allows:

- optimally position the controls and connectors;

- without access to the inside of the container, inspect and, if necessary, check, repair and replace controls and connectors.

The execution of the gear shifting drive of a self-propelled vehicle in the form of an electric motor, on the shaft of which there is a pusher connected to the gear lever, and a potentiometer, through an adapter coupling connected to this shaft, allows:

- carry out gear shifting in the remote mode according to signals from the remote control post;

- determine the position in which the gear lever is;

- reverse the electric motor.

The execution of the drive control the movement of a self-propelled vehicle in the form of actuators for braking the port and starboard, which through the separation axes and braking levers mounted on the steering column are connected to the brake cylinders of the port and starboard, allowing:

- to carry out in remote mode, according to signals from the remote control post, the rotation and braking of the self-propelled vehicle;

- provide low inertia when working out control commands;

- if necessary, provide a quick transition to manual control.

The execution of the gas cable drive in the form of a servo machine with a potentiometer, on the shaft of which a lever is connected, connected with a gas cable, allows you to provide remote control of the fuel supply to ensure the necessary speed mode.

Technical solutions with features distinguishing the claimed solution from the prototype are not known and do not follow explicitly from the prior art. This suggests that the claimed solution is new and has an inventive step.

The invention is illustrated by drawings, where figure 1 shows a General view of a combat robotic module; figure 2 - placement of installation tools and electrical equipment on the stove; figure 3 - rotary platform, the main view; figure 4 is a rotary platform, side view; figure 5 - design of a container for hosting hardware; Fig.6 is a diagram of the drive gearshift mechanism; 7 is a diagram of a motion control drive; on Fig is a diagram of the drive of the gas cable.

The combat robotic module contains devices for fastening equipment, which are made in the form of a plate 1 placed on the frame 2 of a self-propelled vehicle 3, on which a first frame rack 4 is fixed, inside of which a generator 7 with a drive is fixed on the adapter plate 5 mounted on the shock absorbers 6 from an internal combustion engine 8, interconnected by a belt drive 9 and a belt tension control mechanism 10. On top of the first frame rack 4 is placed functional equipment in the form of a rotary platforms 11 for installing an arms system 12, containing modules designed to accommodate an arms system 12 and performing tasks as intended: a cradle 13, a surveillance and target designation unit 14, an ammunition box 15, a tray 16, an input device 17, an 18 drive and a horizontal drive 19 vertical, block 20 electronic. Next to the first frame rack 4, closer to the rear of the vehicle 3, a second frame rack 21 is fixed on the plate 1, inside which additional batteries 22 are placed, and a container for placing hardware is installed on top, made in the form of a box 23 with a removable cover 24 and two horizontal partitions 25 installed inside the box, equipped with cutouts 26 at the corners. Removable panels 27 are placed on the side walls of the box 23, close to the lid 24. Self-propelled vehicle 3 and systems E fighting robot cell is performed from the position of a remote control (not shown). The gear shifting drive of the self-propelled vehicle 3 is made in the form of an electric motor 28, on the shaft of which a pusher 29 is connected, connected with the gear shift lever 30, and a potentiometer 31, through the adapter sleeve 32 connected to the shaft of the electric motor 28. The motion control drive of the self-propelled vehicle 3 is made in in the form of an actuator 33 for braking the left side and an actuator 34 for braking the starboard, which are connected through the axis of separation - left 35 and right 36, respectively, with the braking levers - left 37 and p equal to 38, mounted on the steering column 39. The brake levers 38 and 39 are connected to the brake cylinder 40 of the starboard side and the brake cylinder 41 of the starboard side. The gas cable drive is made in the form of a servo machine 42 with a potentiometer 43, on the shaft of which a lever 44 is connected, connected with a gas cable 45.

Combat robotic module operates as follows. On the plate 1 located on the frame 2 of the self-propelled vehicle 3, the first 4 and second 21 frame racks are fixed, inside which the power supply system equipment of all 3 hardware and functional devices installed on the self-propelled vehicle is installed. On top of the first 4 and second 21 frame racks, respectively, a rotary platform 11 for installing the weapon system 12 and a box 23 with a removable cover 24 for installing hardware are fixed. A generator 7 driven by an internal combustion engine 8 is the main source of electrical energy for the equipment of a combat robotic module. The tension of the belt drive 9 is adjusted by changing the length of the thrust of the belt tension control mechanism 10, which changes the angular position of the generator 7. The batteries 22 act as a backup power source, which allows you to maintain the energy potential of the combat robotic module. Box 23 contains the basic elements of a control system for the movement of a self-propelled vehicle 3, as well as for other systems. The design of the box 23, equipped with a removable lid 24, two horizontal partitions 25 installed inside the box, equipped with cutouts 26 at the corners, and removable panels 27, allows for convenient installation and maintenance of hardware. After installing the turntable 11 on the first frame rack 4, the weapon system 12 is mounted in the cradle 13. The weapon system 12 is installed so that the direction of fire corresponds to the direction of travel of the self-propelled vehicle 3 and the barrel is in a horizontal position. Next, the weapon system 12 is loaded and the ammunition is put in box 15. After the combat robotic module is advanced to a given point, the monitoring zone is monitored using the observation and target designation unit 14. The data obtained through the electronic unit 20 and the input device 17 are transmitted to the remote control post. From the remote control post through the same blocks, the horizontal 18 and vertical 19 drives of the rotary platform 11 are controlled. To reduce external vibrational effects on the generator 7 with the internal combustion engine 8 coming from the chassis of the vehicle 3, to reduce vibration from the working engine 8 itself, partial vibration damping from the use of weapons systems 12 designed shock absorbers 6, on which the adapter plate 5 is installed.

The gear shifting electric drive is intended for remote gear shifting. When applying voltage to the electric motor 28, the pusher 29 begins to put pressure on the lever 30, thereby shifting the gear. When the polarity changes on the electric motor 28, it starts to rotate the shaft in the opposite direction, thereby shifting the gear into the reverse position. To determine the position in which the gearshift lever 30 is currently located, a potentiometer 31 with a resistance of 20 kOhm is installed on the drive. Depending on the position of the shaft, the resistance in the potentiometer circuit 31 varies. This connection is necessary in order to stop the rotation of the shaft at the desired point. An adapter sleeve 32 is mounted on the shaft of the electric motor 28, which serves to eliminate the incompatibility of the shaft of the electric motor 28 and the shaft of the potentiometer 31.

The motion control drive works as follows: when voltage is applied to the linear actuator 33 or 34, the actuator rod extends and begins to press on the brake cylinder 40 or 41 through the brake lever 37 or 38, mounted on the steering column 39. The rotation is performed by braking one of the sides of the self-propelled transport means 3, for this one of the brake cylinders is squeezed out, depending on which direction it is necessary to turn. Braking is done by squeezing both brake cylinders 40 and 41. To switch to manual control, it is necessary to disconnect both brake levers 37 and 38 and the actuator rod 33 and 34, having dismantled the separation axes 35 and 36 for this.

The electric gas cable serves to control the fuel supply remotely. When a certain voltage is applied to the servo machine 42, its shaft rotates. A lever 44 is located on the shaft, which is connected to the gas cable 45, during tension of which enrichment or depletion of the fuel mixture occurs. For feedback, a potentiometer 43 is installed on the servo machine 42, by changing the resistance of which it is possible to determine the current position of the shaft. The shaft can rotate both clockwise and counterclockwise within ± 30 °.

Thus, in the present invention, the task is achieved to achieve a technical result, which consists in creating a combat robotic module having a sufficient composition of functional means for performing tasks for its intended purpose, a high degree of optimization of layout decisions, rigidity of the installation structures sufficient to accommodate equipment with high overall dimensions, operated in conditions of external and own vibration.

Claims (1)

Robotic combat module containing a self-propelled vehicle, devices for mounting equipment, drive mechanisms, a remote control post, on-board power supplies, remote communication system, on-board television system, functional equipment, characterized in that the devices for mounting equipment are made in the form of a plate placed on the frame of a self-propelled vehicle, on which the first frame rack is fixed, inside of which on the adapter plate mounted on shock absorption nuts, a generator driven by an internal combustion engine is fixed, interconnected by a belt drive and a belt tension control mechanism, functional equipment in the form of a rotary platform for installing an weapon system containing modules designed to accommodate the weapon system and perform tasks purpose: cradle, observation and target designation unit, ammunition box, tray, input device, horizontal and vertical drive, electronic unit, nearby with the first frame rack, closer to the rear of the vehicle, a second frame rack is fixed on the plate, inside which additional batteries are placed, and on top is a container for placing hardware, made in the form of a box with a removable cover and two horizontal partitions installed inside the box, cut-outs equipped at the corners, on the side walls of the box, close to the lid, removable panels are placed, the gear shift drive of the self-propelled vehicle is made an electric motor, on the shaft of which there is a pusher connected with the gear lever, and a potentiometer, through the adapter coupling connected to this shaft, the drive for controlling the movement of the self-propelled vehicle is made in the form of actuators for braking the left and right side, which through the separation axes and braking levers, mounted on the steering column, connected to the brake cylinders of the left and right side, the gas cable drive is made in the form of a servo machine with a potentiometer, on the shaft of which a lever is mounted, nny a Cable gas.

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