WO2019112535A2

WO2019112535A2 - A robotic arm

Info

Publication number: WO2019112535A2
Application number: PCT/TR2018/050529
Authority: WO
Inventors: Gunan GURSULAR
Original assignee: Protarm Muhendislik Ve Ticaret A.S.
Priority date: 2017-09-26
Filing date: 2018-09-26
Publication date: 2019-06-13
Also published as: TR201714256A2; WO2019112535A3

Abstract

The present invention relates to a robotic arm (1) which can be used for remotely detecting and intervening particularly suspicious objects, mines or improvised explosive devices (IED) and/or traps and similar elements that may pose danger and for the purpose of all kinds of services upon being mounted to any intervention vehicle (A) as well.

Description

A ROBOTIC ARM Technical Field

The present invention relates to a robotic arm which can be used for remotely detecting and intervening particularly suspicious objects, mines or improvised explosive devices (IED) and/or traps and similar elements that may pose danger and for the purpose of all kinds of services upon being mounted to any intervention vehicle as well.

Background of the Invention In order to detect IED and defuse IED so as to fight against IED today, hydraulic arm applications controlled within different types of armoured vehicles are used. Aims of the said hydraulic arm applications are to investigate the area wherein it is suspected of including IED from a distance that is far enough from the explosive effect via cameras real-timely, to detect the IED by grubbing the ground by means of different types of apparatus that are installed to the end of the arm, to displace it, to cut the wire, to move it away from the area and/or to explode it bomb in a controlled way.

Arm applications being used today are configured such that they usually operate in vertical 3 or 4 axis, have an inward-folding or telescopic structure, their end apparatus are changed manually according to nature of the task, they are used for IED control and intervention of roadsides real-timely by means of camera systems on thereof. However, these systems being used are kind of derivatives of construction machinery and vehicles operating by hydraulic principle and they have limited features. Particularly, they remain incapable due to their design constraints for control of under-road culverts. The International patent document no. W0200705403A1 discloses a machine which has a manipulator arm and is controlled remotely. The said machine essentially consists of a remotely operable machine, a manipulator arm, a machine body and a support.

Summary of the Invention

An objective of the present invention is to realize a robotic arm which moves in multiple axis in linear and circular terms for control of under-road culverts, changes the apparatus that it will use automatically and performs learned motions.

Another objective of the present invention is to realize a robotic arm wherein the arm can enter culvert from a distance that it is far enough, can carry out transaction here and take image in a position where the axis of the culvert is vertical to the road drive axis.

Another objective of the present invention is to realize a robotic arm which is controlled within a vehicle and used upon being mounted to the vehicle.

Another objective of the present invention is to realize a robotic arm whereby the need to go out of the armoured vehicle is eliminated for the personnel and the safety of lives of the personnel is enhanced by virtue of the fact that arm apparatus such as rake, pickaxe, cutter, tongs and water ball are automatically changeable.

Another objective of the present invention is to realize a robotic arm which takes real-time images by means of a display device comprised by thereof while it is moved through a joystick within the vehicle and enables to intervene the suspicious area real-timely by means of command within the vehicle.

Another objective of the present invention is to realize a robotic arm wherein the arm reaches the apparatus magazine (slot) automatically upon the command of changing the arm apparatus is issued, the desired apparatus is received automatically and it returns its previous position in order to resume the operation.

Another objective of the present invention is to realize a robotic arm which can rotate N x 360° around their own axis while it is installed on the head end of the apparatus.

Detailed Description of the Invention

“A Robotic Arm” realized to fulfil the objectives of the present invention is shown in the figures attached, in which:

Figure 1 is a front perspective view of the inventive robotic arm where it is installed onto the vehicle and culvert control/intervention is made.

Figure 2 is a rear perspective view of the inventive robotic arm wherein it is installed onto the vehicle.

Figure 3 is a perspective view of detail K in the Figure 1.

The components illustrated in the figures are individually numbered, where the numbers refer to the following:

1. Robotic arm

2. Turret

3. Connection base

4. First telescopic boom

5. First motion member

6. Second telescopic boom

7. Second motion member

8. Third telescopic boom

9. Head

10. End apparatus

11. Reciprocating motion member 12. Display unit

13. Blowing apparatus

A : Vehicle

M : Culvert

The inventive robotic arm (1) comprises:

- at least one turret (2) which is connected to the vehicle (A) from one end thereof and rotates on the vehicle (A) whereto it is connected 360°;

- at least one connection base (3) which is used for connection of the turret (2) to the vehicle (A);

- at least one first telescopic boom (4) which is located at the end of the turret (2) that is not connected to the vehicle (A) and which moves in the vertical axis on the turret (2) whereto it is connected from one end thereof;

- at least one first motion member (5) which enables vertical motion of the first telescopic boom (4) on the turret (2);

- at least one second telescopic boom (6) which is located at the end of the first telescopic boom (4) that is not connected to the turret (2) and which moves in the vertical axis at the end of the first telescopic boom (4);

- at least one second motion member (7) which enables vertical motion of the second telescopic boom (6) on the first telescopic boom (4);

- at least one third telescopic boom (8) which is located at the end of the second telescopic boom (6) that is not connected to the first telescopic boom (4) and which moves in the horizontal and vertical axis at the end of the second telescopic boom (6);

- at least one head (9) which is located at the end of the third telescopic boom (8) that is not connected to the second telescopic boom (6) and which can perform infinite rotation;

- at least one end apparatus (10) which has a attachable and detachable structure for the head (9);

- at least one reciprocating motion member (11) which performs elongation and shortening motion of the telescopic booms (4, 6, 8); and - at least one display unit (12) which is located on the third telescopic boom (8)·

The inventive robotic arm (1) comprises a control unit which preferably is located within the vehicle (A) and in communication with a control panel whereby control functions are performed. The control panel being in communication with the control unit is a joystick. The control unit provides simultaneous motion to the robotic arm (1) upon the joystick is moved. Thereby, the other axis can move fast in the robotic arm (1) while an axis moves slowly.

In a preferred embodiment, the control unit performs the motions required for installing the preference of the end apparatus (10) made over the control panel automatically to the head. The control unit performs change of the head (9) by controlling the turret (2), the telescopic booms (4, 6, 8), the motion members (6, 7), the reciprocating motion members (11) and the head (9). Besides the control of the control unit motions, it enables the head (9) to leave the current end apparatus (10) and receive and lock the new end apparatus (10) selected.

In a preferred embodiment, the control unit can perform learned motions. Thereby, ease of use is provided for the operator. Motions, which are often performed by the user, are recorded in the control unit during performance of the motion by a trigger over the control panel. Thereby, a motion which was previously realized by a selection made over the control panel is realized automatically without user intervention by triggering of the control unit.

The turret (2) having a rotating structure in the inventive robotic arm (1) can perform rotating motion around the axis of the connection base (3) and the first telescopic boom (4) in one round. Besides, the first telescopic boom (4) can move upwards/downwards by at least one movable joint structure located on the end part of the turret (2). In a preferred embodiment, the connection base (3) has a release mechanism that is controlled over the control panel and triggered by the control unit and will disconnect the arm from the vehicle (A). Thereby, the robotic arm (1) which is damaged due to any explosion is removed from the vehicle (A) physically in an easy way such that the operator and/or the personnel does not need to go out of the vehicle (A). The release mechanism also realizes the separation transaction by disconnecting the telescopic booms (4, 6, 8) from the turret (2) and their own joints.

The first telescopic boom (4) can move both in linear direction and downwards/upwards at the end of the turret (2) by means of the telescopic structure owned by thereof. A reciprocating motion member (11) -which is a hydraulic cylinder- is used for the linear motion of the first telescopic boom (4). The reciprocating motion member (11) is located on the first telescopic boom (4).

The first telescopic boom (4) which can move in vertical axis is located at one end of the second telescopic boom (6) and the third telescopic boom (8) which can both rotate and move downwards/upwards is located at the other end thereof. The vertical motion of the second telescopic boom (6) in downward/upward direction realized at the end of the first telescopic boom (4) is carried out by the second motion member (7) which is a hydraulic cylinder. In a preferred embodiment, the second motion member (7) is located on the first telescopic boom (4) from one end thereof whereas it is located on the second telescopic boom (6) on the other end thereof. Thereby, the mobility of the second telescopic boom (6) is enhanced. Besides, the linear motion based on the telescopic structure of the second telescopic boom (6) is realized. The reciprocating motion member (11) used for the linear motion is a hydraulic cylinder.

The third telescopic boom (8) realizes both 360° rotational motion at the end of the second telescopic boom (6) and the downward/upward motion in the vertical direction by means of the joint structure owned by thereof. Besides, the third telescopic boom (8) can move linearly by means of the reciprocating motion member (11) owned by thereof. By means of these three types of motions of the third telescopic boom (8), the operator insert the end apparatus (10) -which is located at the end of the third telescopic boom (8)- into the under-road culvert (M) within the vehicle (A) easily.

The head (9) is used for connection of the end apparatus (10) to the third telescopic boom (8) and it has a structure with infinite rotation feature. The end apparatus can be changed on the head (9). In a preferred embodiment, the head (9) comprises at least one blowing apparatus (13) which is used for the purpose of air blowing at the end part thereof.

The end apparatus (10) have an attachable/detachable structure for the head (9) with infinite rotation feature and they can be members such as rake, pickaxe, cutter, tongs and water ball in line with the requirements. In a preferred embodiment, the end apparatus (10) have ability to rotate 360° around their own axis. The control unit sends the head (9) to the apparatus magazine located preferably on the vehicle (A) upon the related attach/detach instruction is received, gets the desired apparatus drawn upon leaving the current apparatus and sends it to its previous position in order that the operation resumes. Thus, the operator can change the end apparatus without going out of the vehicle (A) or becoming the target of sharpshooters. In a preferred embodiment, the control unit locks the detached end apparatus (10) to the magazine on the vehicle (A). Thereby, the end apparatus (10) being located at the apparatus magazine is prevented from being dislocated or falling when the vehicle (A) moves.

The end apparatus (10) -which is a water ball- is structured such that water ball barrels in different diameters can be installed. After the head (9) receives the water ball apparatus automatically, the water ball firing mechanism triggers the control panel of the control unit and then it automatically switches to the a status ready to fire and the firing command is issued over the control panel.

There are two display units (12) such that one of them will be used for general view and the other one will be used for close observation on the third telescopic boom (8). The display unit (12), which is used for general view and which is preferably a camera, is located on the third telescopic boom (8) at the its end part close to the second telescopic boom (6). The display unit (12), which is used for close observation and which is preferably a camera, is located at the end of the third telescopic boom (8) wherein the head (9) is installed. Thereby, the display unit (12) which is used for close observation can observe the activities of the end apparatus (10) at different angles on site both after its control for the culvert and its detection by taking images at different angles at the end part of the third telescopic boom (8). The display unit (12) used with a close observation purpose in a preferred embodiment has a movable structure for view at a different angle and it also has an infinite rotation capability along the axis of rotation because it is based on the head (9) with infinite rotation. Thus, detailed images can be taken from inside the culvert (M) instantly.

In a preferred embodiment, the display unit (12) comprises LED lighting members. The lighting members of the display unit (12) are controlled by means of the control unit over the control panel.

By means of using the inventive robotic arm (1) on the vehicle (A); suspicious points at roadsides and inside and outside culverts (M) are investigated and it moves in multiple linear and rotary axis in order to intervene detected objects, mines or IED elements posing danger. The robotic arm (1) can be directed to a culvert (M) one meter below the road surface and two and a half meters away from the front axle axis of the vehicle (A) preferably when the vehicle (A) is in its own lane, stops at the drive direction of the road close to the roadside and culvert (M) axis is in a vertical position to the drive axis. The robotic arm (1) can elongate up to three meters forward inside the culvert (M) in this position. The robotic arm (1) can control culverts located at roadsides or under roads by using its display unit (12) by means of the control of the operator within the vehicle (A) and it can intervene IED’s usually by its end apparatus (10). Safety of lives of the law-enforcement officers are enhanced by virtue of the fact that the robotic arm (1) is controlled by the operator within the vehicle (A) and critical controls such as culvert (M) are made. Although the robotic arm (1) is preferably used in military field, it is also suitable for civilian use.

It is possible to develop various embodiments of inventive robotic arm (1), the invention cannot be limited to examples disclosed herein and it is essentially according to claims.

Claims

1. A robotic arm (1) comprising

- at least one turret (2) which is connected to the vehicle (A) from one end thereof and which rotates on the vehicle (A) whereto it is connected 360°; characterized by

- at least one reciprocating motion member (11) which performs elongation and shortening motion of the telescopic booms (4, 6, 8); and

- at least one display unit (12) which is located on the third telescopic boom (8)·

2. A robotic arm (1) according to Claim 1; characterized by a control unit which is located within the vehicle (A) and in communication with a control panel whereby control functions are performed.

3. A robotic arm (1) according to Claim 2; characterized by the control unit which performs the motions required for installing the preference of the end apparatus (10) made over the control panel automatically to the head.

4. A robotic arm (1) according to Claim 3; characterized by the control unit which performs change of the head (9) by controlling the turret (2), the telescopic booms (4, 6, 8), the motion members (6, 7), the reciprocating motion members (11) and the head (9).

5. A robotic arm (1) according to any of Claim 2 to 4; characterized by the control unit which enables the head (9) to leave the current end apparatus (10) and receive and lock the new end apparatus (10) selected.

6. A robotic arm (1) according to any of Claim 2 to 5; characterized by the control unit which performs partly learned motions.

7. A robotic arm (1) according to any of the preceding claims; characterized by the turret (2) which can perform rotating motion around the axis of the connection base (3) and the first telescopic boom (4) in one round and has a rotating structure.

8. A robotic arm (1) according to any of the preceding claims; characterized by the turret (2) whereby the first telescopic boom (4) can move upwards/downwards by at least one movable joint structure located on the end part thereof.

9. A robotic arm (1) according to any of Claim 2 to 8; characterized by the connection base (3) which has a release mechanism that is controlled over the control panel and triggered by the control unit and will disconnect the arm from the vehicle (A).

10. A robotic arm (1) according to any of the preceding claims; characterized by the first telescopic boom (4) which moves both in linear direction and downwards/upwards at the end of the turret (2) by means of the telescopic structure owned by thereof.

11. A robotic arm (1) according to any of the preceding claims; characterized by the reciprocating motion member (11) which is used the linear motion of the first telescopic boom (4) and which is a hydraulic cylinder.

12. A robotic arm (1) according to any of the preceding claims; characterized by the second telescopic boom (6) wherein the first telescopic boom (4) which can move in vertical axis is located at one end thereof and the third telescopic boom (8) which can both rotate and move downwards/upwards is located at the other end thereof.

13. A robotic arm (1) according to any of the preceding claims; characterized by the second motion member (7) which realizes the vertical motion of the second telescopic boom (6) in downward/upward direction at the end of the first telescopic boom (4) and which is a hydraulic cylinder.

14. A robotic arm (1) according to any of the preceding claims; characterized by the second motion member (7) which is located on the first telescopic boom (4) from one end thereof whereas it is located on the second telescopic boom (6) on the other end thereof.

15. A robotic arm (1) according to any of the preceding claims; characterized by the second telescopic boom (6) which realizes the linear motion based on the telescopic structure thereof.

16. A robotic arm (1) according to Claim 15; characterized by the reciprocating motion member (11) which is used for the linear motion and which is a hydraulic cylinder.

17. A robotic arm (1) according to any of the preceding claims; characterized by the third telescopic boom (8) which realizes both 360° rotational motion at the end of the second telescopic boom (6) and the downward/upward motion in the vertical direction by means of the joint structure owned by thereof.

18. A robotic arm (1) according to any of the preceding claims; characterized by the third telescopic boom (8) which can move linearly by means of the reciprocating motion member (11) owned by thereof.

19. A robotic arm (1) according to any of the preceding claims; characterized by the head (9) which is used for connection of the end apparatus (10) to the third telescopic boom (8) and has a structure with infinite rotation feature.

20. A robotic arm (1) according to any of the preceding claims; characterized by the head (9) which comprises at least one blowing apparatus (13) that is used for the purpose of air blowing at the end part thereof.

21. A robotic arm (1) according to any of the preceding claims; characterized by the end apparatus (10) which have an attachable/detachable structure for the head (9) with infinite rotation feature and which can be members such as rake, pickaxe, cutter, tongs and water ball in line with the requirements.

22. A robotic arm (1) according to any of the preceding claims; characterized by the end apparatus (10) which can rotate 360° around their own axis.

23. A robotic arm (1) according to any of the Claim 2 to 22; characterized by the control unit which sends the head (9) to the apparatus magazine located preferably on the vehicle (A) upon the related attach/detach instruction is received, gets the desired apparatus drawn upon leaving the current apparatus and sends it to its previous position in order that the operation resumes.

24. A robotic arm (1) according to any of the Claim 2 to 23; characterized by the control unit which locks the detached end apparatus (10) to the magazine on the vehicle (A).

25. A robotic arm (1) according to any of the preceding claims; characterized by two display units (12) such that one of them will be used for general view and the other one will be used for close observation on the third telescopic boom (8).

26. A robotic arm (1) according to Claim 25; characterized by the display unit (12) which is located on the third telescopic boom (8) at its end part close to the second telescopic boom (6), used for general view and preferably a camera.

27. A robotic arm (1) according to Claim 25 or 26; characterized by the display unit (12) which is used for close observation and preferably a camera and located at the end of the third telescopic boom (8) wherein the head (9) is installed.

28. A robotic arm (1) according to any of the Claim 25 to 27; characterized by the display unit (12) used with a close observation purpose which has a movable structure for view at a different angle and also has an infinite rotation capability along the axis of rotation because it is based on the head (9) with infinite rotation.

29. A robotic arm (1) according to any of the preceding claims; characterized by the display unit (12) which has LED lighting members.

30. A robotic arm (1) according to Claim 29; characterized by the display unit (12) wherein its lighting members are controlled by means of the control unit over the control panel.

31. A robotic arm (1) according to any of the preceding claims; characterized by the control unit wherein the motions, which are often performed by the user, are recorded during performance of the motion by a trigger over the control panel.