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MODELING
Robot Orion. Tips for a modeller
Directory / Radio control equipment Perhaps in the near future, when new spacecraft will go to the Moon, Venus or Mars, astronauts will have robots in their arsenal that will be the first to go to the surface of the planet to conduct scientific research and perform simple welding and assembly work. So the guys from the space modeling circle of the Sumy City Station of Young Technicians decided and built a similar robot with their own hands. "Orion" (that's how its creators called their offspring) can perform a number of actions inherent in a living organism. In the dark, he "sleeps", but when the lights are on, he "wakes up" and goes straight to the light. The robot can move forward, backward, right and left. Like a person, he takes and carries various objects, talks, turning his head to the interlocutors. Cyber is both a researcher and a welder by trade. The signals coming from the locator and the radioactive hazard sensor are processed by a miniature computer. The collected information is displayed by a video device mounted in the body. The robot performs welding in the following way. With a manipulator arm, he takes a special electrode, at the end of which there is a thermite match with an electric igniter. The high temperature of the thermite match (1500°) allows cutting a metal plate up to 3 mm thick.
At the finals of the X All-Union competition "Cosmos", the robot "Orion" won first place in the section "Popularization of space". STRUCTURAL SCHEME. The robot is controlled using a remote control, on which a number of toggle switches are located, but some operations are performed automatically (Fig. 2).
Turn on the "Power" toggle switch - the remote control is ready for operation. Now, by manipulating individual switches, they give instructions to the robot. The “Locator” toggle switch turns on the antenna rotation electric motor, and clicking the switch with the “ECM” tag is enough for the cyber to start “thinking”: the interrupter electric motor is activated, simulating the operation of the “computer”, and the light bulbs located in front of the robot alternately lighting up display its “mental activity” ". The movement of the robot is carried out using two reversible electric motors. They are controlled by two bipolar switches, the position of the contacts of which determines the direction of rotation of the motors. The mechanical "arm"-manipulator is equipped with three electric motors, the commands to which are also received from the control panel. The manipulator can be rotated around the axis by 270° in the "shoulder joint" and 90° in the "elbow". The gripping mechanism is connected to a motor, the rotation of which makes it possible to compress and unclench the "fingers" of the manipulator. The "head" is rotated by a reversible electric motor with limit switches, limiting its rotation by 180°. Orientation to the light occurs automatically with the help of two photorelays that turn on the electric motors of the "legs", orienting the robot to the light source. And if a plate coated with white phosphorus is brought to the Geiger tube of the radioactive hazard block, the electronic signaling device immediately turns on the signal red lamp and the siren. In order for the cyber to be able to speak and answer questions, two ULFs with independent two-way communication are installed in it. Of course, the interlocutor of the audience is not a robot, but an operator hidden from "prying eyes" (the om can be, for example, in the next room), who listens and transmits information through the robot. The flow of talkback signals is shown in the block diagram (Figure 3).
The CASE of the Orion robot is made of fiberglass and EPD-5 epoxy glue. First, shapes are cut out of foam separately for the torso, legs and arms. Then, a semblance of a future robot is assembled from these parts and covered with a racing layer of plasticine (so that the foam does not stick to the fiberglass). Depending on the thickness of the material, 2-4 layers of fiberglass are applied to the shape of the robot, impregnated with epoxy glue, and then the frozen shell is treated with a file, covered with a layer of nitro putty and, after grinding, painted 2-3 times with nitro paint. After processing the body with grinding paste, they begin to assemble the structure. The head of the robot is made of 0,3 mm thick sheet metal. In the niches of the "legs", "torso", "head" and "arms" there are 9 electric motors (Fig. 4) and circuit boards of electronic units. RD-09 "legs" drive motors with 1/137 reduction have independent control, which allows the robot to turn in any direction.
The rear wheel "legs" is self-centering (Fig. 5).
The RD-09 engine with a reduction of 1/740 turns the "arm" in the "shoulder" (Fig. 6), the DSDR at 2 rpm - in the "elbow" and the MU-10 with a reduction of 1/80 drives the "brush". All electric motors are used from outdated automation devices.
The gripping mechanism of the "arm" is based on the reciprocating movement of a nut connected to three "fingers" (Fig. 7). They are made of D16T duralumin 5 mm thick. And so that the device does not jam when gripping various objects, a thrust spring is installed on the flange.
The "head" is mounted directly on the shaft of the DSDR engine, which has 2 rpm. MP-1 microswitches are installed to limit the motor travel. The locator antenna rotates in one direction only. It is also mounted on the DSDR motor shaft. ELECTRICAL CIRCUIT OF THE ULF COMMUNICATION SYSTEM is a three-stage amplifier with a push-pull terminal stage on transistors V3 and V4 (Fig. 8). A phase inverter stage is assembled on transistor V2. The phase inverter cascade is connected to the final one through a matching transformer T1.
The preamplifier is a conventional resistive stage on transistor V1. Adjustable frequency-dependent feedback (R8C5) allows you to set a given gain of the entire amplifier with a spread in the parameters of the circuit elements. Schematic diagram For temperature stabilization of the output stage mode, the thermistor R7 MMT-1 is included in the base of the inverter stage. The circuit provides additional measures to improve the mode stabilization of the cascades using diodes V5 and V6. BLOCK "RADIATION" consists of two parts - electronic and executive. Its purpose is to detect a dangerous dose of radiation for astronauts and notify about it. The sensitive element of the device is a gas-discharge sensor (counter) STS-5. Its action is based on the ionization of gas under the action of nuclear radiation. At a sufficiently high field strength, an avalanche-like discharge occurs in the counter, which amplifies the ionization effect many times over. A high voltage to power the meter is generated by a blocking generator assembled on transistor V1 (Fig. 9). Transformer T1 is wound on a core of Sh12 plates, the package thickness is 12 mm; the primary winding contains 146 turns with a tap from the 26th turn of PEL 0,2 wire, the secondary winding - 3000 turns of PEL 0,08. Blocking generator pulses, rectified by diodes V2-V4, charge capacitor C3 to a voltage of 300-500 V. As soon as the counter enters the radiation zone, a discharge occurs. Voltage pulses from resistor R2 through capacitor C4 are fed to a two-stage amplifier assembled on transistors V5, V6. From the collector load of the second stage, positive voltage pulses are fed through the capacitor C6 to the rectifier, made according to the voltage doubling circuit on the diodes V7, V8. This rectifier charges capacitor C8. The voltage released on the resistor R10 when C8 is discharged is added to the reference voltage on the capacitor C7, the value of which is set by the potentiometer R10. The total voltage is applied to the base of the transistor V9, which is part of the trigger V9, V10. Here's how it works. When there is no radiation, the potential at the base depends only on the position of the R10 slider. It is set in such a way that a current of 9-4 mA flows through V5. In this case, the transistor V10 is closed and there is no current in the winding of the relay K1. Radiation causes a voltage to appear on capacitor C8, which, added to the reference voltage, causes a decrease in current through transistor V9. At a certain maximum permissible level of radiation, the V10 semiconductor triode opens, causing the K1 relay to operate, the contact plates of which turn on a red lamp and a sound signal. The "ORIENTATION TO THE LIGHT" BLOCK makes the robot move exactly towards the light. The receiving elements are two photoresistors B1 and B2 (Fig. 11). When they are not lit, transistors V1 and V2 are closed and relays K1 and K2 (RES-15, passport PC4.591.004) are de-energized. When the photoresistors are illuminated, the current through the semiconductor triodes increases, causing the turnips K1 and K2 to operate. Their contacts turn on each of their "legs" drive motors, and the robot begins to move forward. If the beam hits only one photoresistor, the robot will turn - "search" for the light source.
Resistors R1 and R4 are used to set the initial current of the transistors, with the help of variable resistors R2 and RXNUMX the sensitivity of the automatic device is adjusted. The matching and output transformers of the ULF connection were used from the Vesna-3 tape recorder. At the power transformer TS-160 from TV sets UNT-47/59, used in the power supply, the secondary windings are converted to voltages of 220, 18, 12, 9, 6 V and contain, respectively, 824 turns of SEV 0,4; 62, 41, 31 turns of SEW 1,3 and 21 turns of SEW 1,7 (Fig. 10). Both consoles are connected to the robot with a MGTF 0,12 wire through ShR-24 connectors. The connection diagram of electric motors and robot blocks is shown in Figure 12.
After the structure is assembled, the surface of the robot is covered with zaponlak, in which aluminum powder is mixed in a ratio of 20:1, used for painting under silver. The hull of the cybera acquires a soft steel color with a greenish tint, Author: V.Vorobey
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