WO2023128958A1

WO2023128958A1 - An armed combat robot that rotates vertically on the ground

Info

Publication number: WO2023128958A1
Application number: PCT/TR2022/050655
Authority: WO
Inventors: Umut UZ; Muhammet Ömer ERDOĞAN; Furkan YILMAZ
Original assignee: İstanbul Geli̇şi̇m Üni̇versi̇tesi̇
Priority date: 2021-12-31
Filing date: 2022-06-24
Publication date: 2023-07-06
Also published as: TR2021022132A2

Abstract

This invention relates to the Vertical Rotating Armed Combat Robot that can be used in robot wars competitions, and its feature is; a main body (1) containing the parts that make up the invention in or on it, the body cover (2) forming the front part of the main body (1) where the bearings are fixed, the wheel bearings (3) providing a solid bearing of the wheels mounted on the body cover (2). The motion motor bearings (5) that support the motion motors that transfer motion to the wheels mounted on the wheel bearings (3), the drum bearings (6) that provide the connection of the drum to the main body (1) and containing the bearing housing, the most important bearing the gun motors that transmit the rotation of the drum via V belt and pulley, a rotating drum (7) connected to the main body (1) with at least one gun motor bearings (4), drum bearings (6) It has tile-shaped rotary drum blades (8) mounted on the rotary drum (7) and side body nuts (9) that frees the robot from a side or upright position in case the robot topples over.

Description

AN ARMED COMBAT ROBOT THAT ROTATES VERTICALLY ON THE

GROUND

Technical Field:

The presented invention relates to a ground-vertical rotating armed combat robot that can be used in robot wars competitions.

State of the Art:

With the rapid rise of machinery, electronics, materials, control and other industries in recent years, robot competitions are popular with people due to their technological and exciting nature. In the context of vigorous advocacy of innovative education, robots are recognized as an effective carrier for developing student’s innovative abilities. Combat robots in particular are popular around the world because of their excitement. Therefore, it is necessary to design a war robot with strong aggression and flexible mobility.

Combat robots that are already being made around the world combine the production capacity with the imagination of a person and produce robots in this direction. Each designer produces his own combat robots with his own production technique. It is obvious that these combat robots have easy deformation due to the fact that the weapons mechanisms of these combat robots are not light and have a sufficiently strong bearing.

The patent application CN111906802A describes a” Battle robot ". According to a battle robot, a power supply control module provides power and sends related control instructions, a motor drives Mecanum wheels to achieve omnidirectional movement of the robot, a shock absorber, a motor base, a hinge and a hinge support form an independent suspension system, rotary rollers on the periphery are connected through a bevel gear set, motor power is transmitted through a chain transmission structure, the motor drives a lead screw to rotate, a lead screw nut mechanism drives a sliding rail to move, then a rack mechanism is driven to move, a gear is meshed with a rack to open and close an upper mechanical claw, the motor drives a cam to rotate, and the cam drives a gear connecting rod to swing, gear teeth at the front end of the gear connecting rod are matched with a gear shaft to fold a fixing plate along the hexagonal sliding rail, and the front-end high-speed rotary roller is used for attacking. High stability, mobility and aggressivity are achieved, and entertainment is high.

Since the robot mentioned in the above patent application is built in a horizontal position, its mobility is restricted. Robots in robot war competitions have a wide variety of weapons positioned to make the opponent somersault. For this reason, although it has gained the ability to rotate with the help of mechanical grippers in overturns, this process does not give a hundred percent result, and it can be pushed to the neutral shredding organs on the side of the field by the opponent robot.

The patent application CN107073706A describes a” War Robot”. A war robot comprises a body, a turret , a driving mechanism, a transmitting mechanism, and a feedback mechanism, the body comprising a fuselage and a roller being in a rotary connection with the fuselage, the turret being detachably connected to the top of the fuselage, the driving mechanism being fixed to the fuselage and driving the roller to rotate so as to drive the fuselage to walk, the transmitting mechanism comprising a transmitter being fixed to the turret for transmitting a visible beam, the feedback mechanism comprising a visible light sensor being fixed to the fuselage for receiving the visible beam.

In order to prevent the robot mentioned in the above patent application from somersaulting, two supporting claws have been placed on the back of the robot. However, these claws are in small sizes so that they do not limit the robot's mobility. Depending on the severity of the blow to be received by the opposing robot, the robot may be inverted despite these claws. In case of a possible overturn or somersault, the turrets or claws do not affect the robot's recovery. In such a case, the wheels that provide the movement are ineffective.

As a result, there is a need for a new technology with a robust and light structure that can overcome the disadvantages mentioned above, with high mobility. Description of the Invention:

This invention is a vertically rotating armed war robot that can overcome the disadvantages mentioned above, and its feature is; It has a double-bearing vertically rotating weapon mechanism, it is light but robust and has high mobility due to the materials in its structure.

The invention has a double-bearing vertical-to-ground rotating weapon mechanism and a four-wheel drive mechanism. It is rotated by two weapon mechanisms, which are advantageous with their lightness, and a powerful engine acting on them. Each part, from the mechanical bearings holding the weapon system to the motor bearings holding the motion system, is specially designed and manufactured with durable but light materials. Due to the weapon mechanism and robot design used, it provides an advantage against its competitors.

It is easy to install due to the easy fixing of the parts that make up the invention, and the costs are low due to the short assembly time. Moreover, the invention has a solid construction.

Description of the Figures:

The invention will be described with reference to the accompanying figures, so that the features of the invention will be more clearly understood and appreciated, but the purpose of this is not to limit the invention to these certain regulations. On the contrary, it is intended to cover all alternatives, changes and equivalences that can be included in the area of the invention defined by the accompanying claims. The details shown should be understood that they are shown only for the purpose of describing the preferred embodiments of the present invention and are presented in order to provide the most convenient and easily understandable description of both the shaping of methods and the rules and conceptual features of the invention. In these drawings.

Figure 1 Front view of the system. Figure 2 Perspective view of the system.

Figure 3 Perspective view of the system.

Figure 4 Perspective view of the side body nuts.

Figure 5 Perspective view of wheel bearings.

Figure 6 Perspective view of the gun engine bearings.

Figure 7 Perspective view of the rotating drum.

Figure 8 Perspective view of motion motor bearings.

Figure 9 Perspective view of drum bearings.

Figure 10 Perspective view of the rotating drum blades.

The figures to help understand the present invention are numbered as indicated in the attached image and are given below along with their names.

Description of References:

1. Main Body

2. Body Cover

3. Wheel Bearings

4. Gun Motor Bearings

5. Motion Motor Bearings

6. Drum Bearings

7. Rotary Drum

8. Rotary Drum Blades

9. Side Body Nuts

Description of the Invention: The mechanical parts that make up the invention are basically; main body (1), body cover (2), wheel bearings (3), gun engine bearings (4), motion motor bearings (5), drum bearings (6), rotary drum (7), rotary drum blades (8) and the side body nuts (9). Electronic parts that make up the invention are gun motors, gearmotors, motor driver, Li-Po battery, main power switch, additional battery, radio receiver, power cables, signal cables and cable sockets.

Electronic components in the main body (1) mentioned in the invention; two 24V 400W gun motors, four geared motion motors, 22.2V 5000mah capacity main power Li-Po batteries, a gun motor driver that can operate at maximum 50V 300A values, a main power switch that can switch to a closed circuit position and can pass a continuous current of 160A, There are 6-cell electronic system feeding NiMh battery with 7.2V and 2000mah capacity, a radio receiver that controls 9 channels independently and works with 2.4Ghz radio signal, power cables, signal cables and cable sockets.

Gun engines are connected to the rotating drum (7) with V-belts and pulleys. In this way, the rotational movement of the motor is transferred to the rotating drum (7). The gun motors are positioned on the gun motor bearings (4) and mounted on the main body (1). In terms of strength, these bearings (4) are made of steel. As a result of the rotation of the rotary drum (7) of the gun motors, the tile-shaped rotary drum blades (8) rotate in the same way. Geared motion motors are attached to the main body (1) and motion motor bearings (5) and are controlled by the gun motor driver. Geared motion motors provide movement of the vehicle by moving the wheels to be integrated on the shaft. Geared motion motors direct the required signal according to the receiving signal receiver with remote wireless interaction. Main power Li-Po battery feeds gun motors and geared motion motors. Power cables and sockets are used on it to provide the connection. The radio receiver is powered by a different battery. The electronic system supply NiMh battery powers the radio receiver. The main power switch is used to turn the power transfer between the Li-Po battery and the motors on or off. The invention has a main body (1) that contains all the components inside or on it. There is a body cover (2) fixed on the main body (1). Wheel bearings (3) and gun motor bearings (4) are positioned on the body cover (2). It is connected to the body cover (2) with bolts through the holes on the wheel bearings (3) and provides a solid bearing of the wheels. The gun motor bearings (4) are mounted to the body cover (2) with bolts and provide the gun engine mounts. There are motion motor bearings (5) that provide the bearing of the motion motor and are positioned on the body cover (2). There are drum bearings (6) that enable the rotary drum (7) to be connected to the main body (1). In addition, the rotary drum (7) has the rotary drum blades (8) on it. There are side body nuts (9) connected to the main body (1) by welding.

Main body (1) and body cover (2) are made of 304 steels. When used with steel in this class, the vehicle's mobility increases as a lighter but durable structure is obtained compared to other steel classes. The plates forming the main body (1) and the body cover (2), and the screw holes required for the bedding are opened with laser and the parts are joined by welding.

The plates forming the main body (1) and the body cover (2) and the screw holes required for the bedding are opened with laser and the parts are joined by welding. Gun motor bearings (4) and motion motor bearings (5) are produced with 304 steels. The parts are cut with a laser, and the screw holes on them are opened with a laser.

As the wheel bearings (3) are made of 6000 series aluminum, they have a light, low cost but durable structure. Gun motor bearings (4) and motion motor bearings (5) are produced with 304 steels. The parts are cut with a laser, and the screw holes on them are opened with a laser.

Drum bearings (6), rotary drum (7) and rotary drum blades (8) are produced from hardened iron. Thus, the robot's resistance to impacts has been maximized. There is a hole and bearing housing on it. The bearing located here has the purpose of absorbing the loads during the collision of the rotary drum blades (8) mounted on the rotary drum (7). The rotary drum blades (8) make rotational movement perpendicular to the ground. The side body nuts (9) are mounted to the sides of the main body (1) by welding. These nuts (9) prevent the robot from standing upright or on its side in case it topples over.

Claims

CLAIMS - The invention relates to a vertically rotating armed war robot, and its feature is; a main body (1) containing the parts constituting the invention in or on it,

- body cover (2), which forms the front part of the main body (1) where the bearings are fixed,

- wheel bearings (3), which provide a solid bearing of the wheels mounted on the body cover (2), motion motor bearings (5), which support motion motors that transfer motion to wheels mounted on wheel bearings (3), drum bearings (6), which provide the connection of the drum to the main body (1) and containing the bearing housing, at least one gun motor bearings (4) that support the gun engines that transmit the rotation of the drum via V-belt and pulley,

- the rotary drum (7), which is connected to the main body (1) with the drum bearings (6),

- tile-shaped rotary drum blades (8) mounted on the rotary drum (7) and

- the fact that it has side body nuts (9) that saves the robot from a side or upright position in case the robot falls over. - As mentioned in Claim 1 , it is a vertically rotating armed war robot, and its feature is; it is characterized by the fact that the gearmotors have a motor driver that controls the revolutions and the direction of rotation. - As mentioned in Claim 1, it is a vertically rotating armed war robot, and its feature is; it is characterized by the fact that it has a battery that electrically feeds the gun motor and geared motion motors. - As mentioned in Claim 1 , it is a vertically rotating armed war robot, and its feature is; it is characterized by having a main power switch that prevents/provides the passage of electric current between the battery and the motors.

8 5- As mentioned in Claim 1 , it is a vertically rotating armed war robot, and its feature is; it is characterized by having a radio receiver that controls the motor driver by receiving remote radio signals.

6- As mentioned in Claim 1 , it is a vertically rotating armed war robot, and its feature is; it is characterized by the fact that it has a second battery that provides the electrical supply of the radio receiver.

7- As mentioned in Claim 1 , it is a vertically rotating armed war robot, and its feature is; it is characterized by having the main body (1) made of steel plate.

8- As mentioned in Claim 1 , it is a vertically rotating armed war robot, and its feature is; it is characterized by the fact that it has a body cover (2), which is made of steel plate and covers the main body (1).

9- As mentioned in Claim 1 , it is a vertically rotating armed war robot, and its feature is; It is characterized by the fact that it has wheel bearings (3), which are made of aluminum and have four screw holes on the edges.

10- As mentioned in Claim 1, It is a vertically rotating armed war robot, and its feature is; it is characterized by having gun motor bearings (4) produced from steel.

11- As mentioned in Claim 1, it is a vertically rotating armed war robot, and its feature is; it is characterized by having motion motor bearings (5) made of steel.

12- As mentioned in Claim 1, it is a vertically rotating armed war robot, and its feature is; it is characterized by the fact that it has drum bearings (6) made of iron, with two screw holes and bearing holes on it.

13- As mentioned in Claim 1, it is a vertically rotating armed war robot, and its feature is; It is characterized by having a rotary drum (7) made of hardened iron.

9 14- As mentioned in Claim 1, it is a vertically rotating armed war robot, and its feature is; It is characterized by the fact that the blades (8) on the rotary drum (7) have at least one bearing that balances the loads on the shaft during the collision.

15- As mentioned in Claim 1 , it is a vertically rotating armed war robot, and its feature is; it is characterized by having rotary drum blades (8) that move perpendicular to the ground.

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