WO2019236019A1

WO2019236019A1 - Remote-controlled robotic arm with multiple axis mobility

Info

Publication number: WO2019236019A1
Application number: PCT/TR2018/050291
Authority: WO
Inventors: Sarper Gürbüz
Original assignee: Aselsan Elektroni̇k Sanayi̇ Ve Ti̇caret Anoni̇m Şi̇rketi̇
Priority date: 2018-06-07
Filing date: 2018-06-07
Publication date: 2019-12-12

Abstract

The present invention is a robotic arm (R) connected to the vehicle (3) and controlled by a control interface in the vehicle (3) or a remote control, which has at least one boom and can bear attachments on the tip, comprises a rotary piece (7) located at the end of the last boom extending from the vehicle (3) and rotating around the axis in which the last boom extends, and a bracket (22) fixed to the rotary piece (7), moving circularly on the vertical axis according to the last boom, and directing the attachment.

Description

REMOTE-CONTROLLED ROBOTIC ARM WITH MULTIPLE AXIS MOBILITY

Technical Field

The invention relates to a robotic arm that can be operated in two planes and used for examining the threats in and around the constructions such as pipelines, culverts, clay pipes to detect and/or destroy targets from distant.

Prior Art

In prior art, there are telescopic robotic arms that can be mountable on vehicles used in constructional and military operations. In the field of clearing mines and explosives, remote controlled robots or robotic arms are used for manipulating the threats. However, it is not always be possible to reach dangerous zones and places that is above or under the ground. The structures like bridges, culverts are difficult to be reached with the existing manipulators.

A vehicle mountable arm for valve operating machine is disclosed in U.S. patent no. US20160201823A1 . The valve operating machine includes a mounting for attachment to a vehicle and an elongate arm, the free end of which is only moveable across the underlying ground. The joints of the arm pivot around vertical axes and the arm is locked into a desired orientation by a brake at each joint. A valve turning machine is at the free end of the arm. The brakes are engaged and released by a control on the valve turning machine. However, this structure does not offer an arm that can be used with different attachments and elongated into areas such as pits, culverts.

As a result, due to the above-mentioned drawbacks and the inadequacy of the existing solutions, an improvement in the technical field has been required.

The Purpose of Invention

The main purpose of the invention is to respond to an element that constitutes a threat from a distance. Through the robotic arm that is mounted on top of a proper armored vehicle, it is possible to handle threats such as explosives, suspicious packages, and possible threat areas such as high-rise buildings, pits, culverts, where the sight is poor, using appropriate attachments. In this context, after the elongation performed in a single plane, a structure that can move at 90 degrees to the second plane and go forward approximately 3 meters is formed. The main axes are operated by a hydraulic drive and a hybrid structure is constructed in which the precision motion axes at the arm ends are operated by an electric drive. By using this axis, it will be possible to reach areas that are at a certain distance from the front axle of the vehicle and at certain distance below.

To be used in case of emergency and in order to understand the sense of depth at the end of the attachment, robotic arm will be able to work compatible with accessories such as virtual reality and multi-functional glasses.

The most important feature distinguishing the invention from its counterparts is the chamfer axis on the tip of the boom located at the end. Following the chamfer axis, it will be possible to move in the culvert and in the narrow pipelines through the electric-powered, composite, telescopic arm placed at the robotic arm end.

The robotic arm can be operated with input-shaping and the like algorithms in two planes to eliminate undesirable swinging on the endpoint.

In order to realize all the advantages mentioned above, the invention is a robotic arm connected to the vehicle and controlled with a control interface in the vehicle or a remote control, which has at least one boom and wherein an attachment can be attached to the tip, comprising:

• a rotary piece located at the end of the last boom extending from the vehicle and rotating around the axis in which the last boom extends,

• a bracket fixed to the rotary piece, moving circularly on the vertical axis according to the last boom, and directing the attachment,

• a rotary piece that allows the attachment to be controlled remotely,

• a camera positioned on the attachment and the booms, transmitting images to the control interface,

• a lighting used in conjunction with the camera to illuminate the area to be imaged for the attachment movement and the area where the boom is to be moved,

• a piston connected to each boom, allowing the boom to elongate, shorten and rotate.

The structural and characteristic features of the invention and all advantages thereof will be understood more clearly by means of the following figures and detailed description which are given by referring to these figures, and therefore the evaluation should be made by taking these figures and detailed explanation into consideration.

Brief Description of the Drawings

Figure 1 is a detailed view of the robotic arm of the invention.

Figure 2 shows the intervention of the robotic arm connected to the vehicle to the threat inside a culvert.

Figure 3 shows a perspective view of the robotic arm. The drawings do not necessarily have to be scaled, and the details that are not necessary to understand the invention may be neglected. Other than that, elements that are substantially identical, or at least have substantially identical functions, are denoted by the same number.

Reference Numbers

1 . Camera 16. First extension boom

2. Lighting 17. Second bending boom

3. Vehicle 18. Second extension boom

4. Attachment axis 19. Fixed piece

5. Fixing apparatus 20. Moving piece

6. Gear hub 21 . Cutter

7. Rotary piece 22. Bracket

8. Lifting piston 23. Water jet

9. First bending piston 24. Rake

10. Second bending piston 25. Ground-penetrating radar (GPR)

1 1 . First extension cylinder 26. Breaker

12. Second extension cylinder 27. Telescopic arm

13. Upright boom 28. Clamp

14. Lifting boom 29. Bucket

15. First bending boom R. Robotic arm

Detailed Description of the Invention

In this detailed description, the preferred structures of the invention is explained for a better understanding of the subject matter.

The robotic arm (R) shown in Figure 1 is driven by hydraulic system that is contained in the internal structure of the armored vehicle. The hydraulic line is pressurized by means of a crank- driven pump located on the crankshaft outlet of the vehicle (3). The motion instructions of the user is obtained by the operator console in the armored vehicle (3) and is transmitted to the valve block located in the vehicle (3). The valve block directs pressure hydraulics from the vehicle (3) pump to the related parts.

The gear hub (6) on the fixing apparatus (5) which connects the robotic arm (R) to the vehicle (3) as shown in Figure 2 and allows the robotic arm (R) to rotate 360 degrees around its own axis. To ensure angular movement between the lifting boom (14) and high-strength upright boom (13) on the gear hub (6), the pressure hydraulic from the vehicle (3) pump is directed to the lifting piston (8) through the valve block. The lifting piston (8) fixed to the upright boom (13) on one side is connected to the lifting boom (14) on the other side. The angular position between the lifting boom (14) and the first bending boom (15) is provided by the first bending piston (9) with the hydraulic pressure coming through the valve block. The back-and-forth movement of the robotic arm (R) is performed by the linear movement of the first extension boom (16) through the first extension piston (1 1 ) within the first bending boom (15). The angular position between the second bending boom (17) and the first extension boom (16) is set by the second bending piston (10). The second extension boom (18) is able to move linearly by means of the second extension piston (12) and provides a controlled approach to the target with the attachments at the end of the robotic arm (R). At the end of the second extension boom (18), there is a rotary piece (7) to allow the attachment group at the end of the telescopic arm (27) to rotate around the axis of second extension boom (18). In order to approach/destroy targets located in different planes such as pipelines, culverts, under the bridges, a bracket (22) that is connected to the rotary piece (7) is provided. A controlled manner of use is carried out for the attachment with the system of the rotor (moving piece (20)) to manipulate and the stator (fixed piece (19)) in the attachment.

The attachment can be a cutter (21 ), a water jet (23), a rake (24), a ground-penetrating radar (25), a concrete/asphalt breaker (26), a telescopic arm (27), a clamp (28), a metal detector or a bucket (29).

A PTZ camera (1 ) on the reach boom (14) and 3 fixed cameras (1 ) are preferably used, in order to track the movements of the robotic arm (R), examine the target and monitor the surroundings at a wide angle. The lighting (2) on the cameras (1 ) make it possible to use robotic arm (R) in dark environments and at night.

Activation/deactivation of the robotic arm (R) will be performed automatically via operator interface/control. In case of a malfunction in the automatic system, by the help of the angle and position sensors on the robotic arm a live 3D model of the arm and the vehicle will be shown on the operator interface/control. This 3D model will direct the operator while maneuvering the robotic arm, thus preventing a collision with the vehicle.

In case of an explosion, attachment at the end of the robotic arm (R) will break off from the attachment axis (4) and prevent the effect of the explosion reflecting to the rest of the robotic arm (R) and to the vehicle (3).

Claims

1. A robotic arm (R) connected to the vehicle (3) and controlled with a control interface in the vehicle (3) or a remote control, which has at least one boom and can bear attachments on the tip, characterised by comprising;

• a rotary piece (7) located at the end of the last boom extending from the vehicle (3) and rotating around the axis in which the last boom extends,

• a bracket (22) fixed to the rotary piece (7), moving circularly on the vertical axis according to the last boom and directing the attachment.

2. The robotic arm (R) according to Claim 1 , wherein the attachment is a cutter (21 ), a water jet (23), a rake (24), a ground-penetrating radar (25), a concrete/asphalt breaker (26), a telescopic arm (27), a clamp (28), a metal detector or a bucket (29).

3. The robotic arm (R) according to Claim 1 or 2, wherein the attachment comprises a remotely controlled moving piece (20) to manipulate.

4. The robotic arm (R) according to Claim 1 , comprising a camera (1 ) placed on the attachment and the booms, transferring images to the control interface or the remote control.

5. The robotic arm (R) according to Claim 4, comprising a lighting (2) used in conjunction with the camera (1 ) to illuminate the area to be imaged for the attachment movement and the area where the boom is to be moved.

6. The robotic arm (R) according to Claim 1 , comprising a piston connected to each boom, allowing the boom to elongate, shorten and rotate.

7. The robotic arm (R) according to Claim 1 , wherein a live 3D model of the robotic arm (R) and the vehicle (3) will be shown on the operator interface/control by the help of angle and position sensors on the robotic arm (R) to direct the operator while maneuvering.