GROUND ROBOTIC VEHICLE WITH MAGNETIC SUSPENSION

Abstract

This utility model relates to transport equipment and concerns the suspension of tracked and wheeled vehicles. Each sprung element (roller or wheel) is connected to a movable permanent magnet, positioned coaxially with a fixed electromagnet. The electromagnet's like-pole orientation is reversed, creating a repulsion when current is applied. An onboard controller, by controlling the current, regulates suspension stiffness and ground clearance. When the current is disconnected, ground clearance is reduced to zero—the vehicle body lowers to the ground, unloading the suspension and securing the system during transport. The technical result is increased suspension reliability, active stiffness and ground clearance adjustment, and the ability to achieve zero ground clearance.

Description

[0001] Technical field

[0002] The utility model relates to ground-based robotic machines, in particular to tracked and wheeled machines, and concerns the design of the suspension of support rollers for a tracked version or wheels for a wheeled version using magnetic interaction as an elastic element with the ability to actively adjust the rigidity and ground clearance, including lowering the body until it touches the ground, that is, to zero ground clearance, to relieve the suspension and secure the machine during transportation and storage.

[0003] Technology Level

[0004] Various designs of suspensions for track rollers of tracked vehicles and wheels of vehicles are known from the prior art.

[0005] Classic mechanical suspensions using torsion bars or springs as elastic elements are well known. The disadvantages include high wear of the friction parts, susceptibility to metal fatigue, and difficulty adjusting the stiffness and ride height.

[0006] Hydraulic dampers for vehicle road wheels are known (patent RU 2750181 C1). Disadvantages include high design complexity and the need for special seals and operating fluids.

[0007] Suspensions using magnetic shock absorbers are known. These devices feature two permanent magnets mounted in a housing, facing each other with like poles, one of which is connected to the vibration source (patent RU 2286491 C2). The disadvantage is that these devices are designed for shock absorption, i.e., vibration damping, and do not function as an elastic suspension element that supports static loads and ensures the required travel of the roller or wheel. They also lack the ability to adjust stiffness and ground clearance.

[0008] Electromagnetic suspension systems are known (patents RU 2448000, RU 2456170) containing an electromagnetic drive and a controller that regulate the characteristics of the suspension, but based on the principle of attraction of an electromagnet to a ferromagnetic element, and not on the repulsion of a permanent magnet from an electromagnet, and do not provide zero ground clearance.

[0009] The closest analog, adopted as a prototype, is a magnetic suspension bearing containing ring-shaped coaxial permanent magnets, one of which is stationary, while the other is mounted on a shaft with the ability to move axially (patent RU 166458 U1). The magnets face each other with opposite poles, meaning they attract each other, which precludes the device from being used as an elastic suspension element with repulsion and active adjustment.

[0010] The disadvantages of the prototype are: narrow specialization, since it is a bearing; the inability to use as an elastic element of the suspension; the inability to adjust the stiffness and ground clearance; the inability to ensure zero ground clearance to relieve the suspension and secure the car during transportation.

[0011] Technical problem

[0012] Creating a simple, reliable and contactless elastic suspension element for a ground robotic vehicle, which would replace mechanical springs and torsion bars, eliminating wear of rubbing parts, would be applicable to both tracked and wheeled vehicles, would allow for active adjustment of suspension stiffness and ground clearance during movement, including lowering the body until it touches the ground, that is, to zero ground clearance, to relieve the suspension and secure the vehicle during storage and transportation.

[0013] Technical result

[0014] The technical result is to increase the reliability and durability of the suspension by replacing mechanical elastic elements with contactless magnetic ones, providing the ability to actively adjust the stiffness of the suspension and ground clearance in real time, as well as providing the ability to lower the body until it touches the ground, that is, to zero ground clearance, to relieve the suspension and secure the vehicle during storage and transportation.

[0015] Disclosure of Utility Model

[0016] The technical result is achieved by a ground-based robotic vehicle with magnetic suspension comprising a self-propelled chassis and sprung elements. The sprung elements can be implemented as road wheels for a tracked version or as wheels for a wheeled version. Each sprung element is connected to a movable permanent magnet, positioned coaxially with a fixed electromagnet. The electromagnet's like poles face the movable magnet, which, when current is applied, creates a repulsive force that counteracts suspension compression. An onboard controller connected to the electromagnet is capable of varying the current in its winding, increasing or decreasing the repulsive force, thereby adjusting suspension stiffness in real time depending on vehicle speed, terrain type, or operator commands. This also allows for changes in the position of the movable magnet and, consequently, the vehicle's ground clearance.As the current increases, ground clearance increases, meaning the suspension lifts the body. As the current decreases, ground clearance decreases, and when the current is completely disconnected, the repulsive force disappears, and under the influence of the vehicle's weight, the moving magnet approaches the electromagnet, providing zero ground clearance, at which point the body lowers until it touches the ground, relieving the suspension and securing the vehicle during storage or transport.

[0017] The movable permanent magnet can be mounted on a rod connected to the suspension arm supporting the road wheel or wheel. The magnets are coaxially mounted within a tube made of a non-magnetic material, such as aluminum alloy, fiberglass, copper, or brass, which prevents magnetic field shielding and its undesirable impact on the steel chassis components. However, the specific design of the tube, rod, and arm is not essential to achieving the technical result; other methods of connecting the movable magnet to the sprung element are possible.

[0018] Brief description of the drawing

[0019] Fig. 1 shows a diagram of the suspension unit using the example of a tracked vehicle road wheel. The drawing shows:

[0020] 1 - suspension arm; 2 - rod; 3 - non-magnetic tube; 4 - fixed electromagnet; 5 - movable permanent magnet; 6 - support roller for tracked version or wheel for wheeled version.

[0021] The on-board controller is not shown in the drawing.

[0022] Implementation of a utility model

[0023] The movable permanent magnet (5) is connected to the support roller (6) or wheel via the rod (2) and lever (1). As the vehicle moves over uneven surfaces, the roller moves relative to the housing, turning the lever. The rod moves the movable magnet inside the tube (3) toward the electromagnet (4). When the electromagnet is turned on and its pole is aligned with the movable magnet, a repulsive force is generated that counteracts the compression of the suspension and returns the movable part to its original position. When the electromagnet is turned off, the repulsive force disappears, and the suspension folds freely under the weight of the vehicle, providing zero ground clearance.

[0024] The onboard controller controls the current in the electromagnet (4). Increasing the current increases the repulsion, which causes the body to rise, increasing ground clearance, and increasing suspension stiffness. Reducing the current or turning it off reduces ground clearance and stiffness, down to zero ground clearance, at which point the body rests on the ground, relieving the suspension and locking the car in place.

[0025] Industrial applicability

[0026] The device can be made from standard materials: permanent magnets, such as neodymium; electromagnets, i.e., coils with a ferromagnetic core; non-magnetic steel rods; suspension arms; a tube made of any non-magnetic material, such as aluminum alloy, fiberglass, copper, brass, or plastic; and an onboard controller, such as an STM32 microcontroller or similar. Assembly is possible at any mechanical engineering facility.

Claims

1. A ground-based robotic vehicle with magnetic suspension, comprising a self-propelled chassis and sprung elements, characterized in that each sprung element is connected to a movable permanent magnet, located coaxially with a fixed electromagnet, wherein the electromagnet faces the movable magnet with like poles, ensuring their repulsion when current is applied, and an on-board controller connected to the electromagnet is configured to change the current strength to adjust the stiffness of the suspension and ground clearance, including to create zero ground clearance when the current is turned off.

2. A ground robotic machine according to paragraph 1, characterized in that the sprung elements are made in the form of support rollers or wheels.

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