MOTION SENSING AND CONTROLLING DEVICE ATTACHED TO WALKING ROBOTS IN MOTION SYSTEMS

• Main Authors: DINU CORNEL, NICULA OCTAVIAN, GAVAN MIRCEA, DUMITRU IULIA VASILICA, VASILE AURELIAN, ION ION
• Format: Patent
• Language: English; Romanian
• Published: 30.09.2014
• Subjects: CALCULATING; CHAMBERS PROVIDED WITH MANIPULATION DEVICES; COMPUTING; CONTROLLING; COUNTING; ELECTRIC DIGITAL DATA PROCESSING; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PHYSICS; PORTABLE POWER-DRIVEN TOOLS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES; TRANSPORTING

The invention relates to a device for sensing and controlling the motion by force, attached to walking robots at the extremities of motion systems with the view of carrying out a safe transportation of technological installations which are transported on rough ground. According to the invention, the device is a hardware and software equipment which has two types of sensors, a two-axis slip one and a force one, ensuring, by means of an integrated micro-controller system, a loop for adjusting the force in order to keep it at admissible values, controlling the slip of the sole which is attached to the legs () of a robot, protected by bellows () and comprises a source () for supplying and distributing pressurized fluid, a proportional pressure regulator (), an electronic module () for setting the reference point, a force regulator () and a controller (). Invenţia se referă la un dispozitiv de sesizare şi control al mişcării prin forţă, ataşat roboţilor păşitori la extremităţile sistemelor de deplasare, în vederea realizării unui transport în siguranţă a unor instalaţii tehnologice pe care le transportă pe un teren cu relief complicat. Dispozitivul conform invenţiei este un echipament hardware şi software ce are două tipuri de senzori, de alunecare pe două axe şi de forţă, care, prin intermediul unui sistem microcontroler integrat, asigură o buclă de reglare a forţei, pentru a o păstra la valori admisibile, controlând alunecarea tălpii, şi este ataşat unor picioare () ale unui robot, protejat de un burduf (), şi are în compunere o sursă () de alimentare şi distribuţie cu fluid sub presiune, un regulator () proporţional de presiune, un modul () electronic de setare punct de referinţă, un regulator () de forţă şi un controler ().